【摘要】 下肢康复训练过程中,需要控制患者骨盆与下肢各关节的协调运动,以及重心与步态的协调运动,实现行走过程中的平衡控制,从而达到较好的训练效果。通过正常人的运动特性分析,并针对步态周期中摆动期和支撑期的不同支撑状态,分别分析确定了骨盆所具有的自由度。同时又研究了特殊位姿(立正时)情况下骨盆的运动能力,并分析了下肢各个关节的耦合现象。利用Adam s软件对在不同情况下人体骨盆自由度进行了验证,依据骨盆运动规律,提出一种绳牵引并联机构,实现了对骨盆运动的控制。更多还原

【Abstract】 During the health recovery training courses of lower limbs,it is necessary to control the harmonic motion relationship between the sufferer’s pelvis and each joint of lower limbs and the harmonic motion between barycenter and gait,and to realize the equilibrium control in the course of walking so as to achieve a better training effect.By means of motion characteristics analysis of normal person and aimed at different supporting states of oscillation phase and supporting phase within the gait period,the degree of freedom possessed by the pelvis was analyzed and determined separately.At the same time the moving ability of pelvis under the special posture(during attention) was studied,and the coupling phenomena of each joint of the lower limbs were analyzed.Verifications under different conditions were carried out on the human-body pelvis by the use of Adams software.A kind of rope drawn parallel mechanism was put forward according to the motion law of pelvis,thus achieved the control on the movement of pelvis.更多还原