【摘要】 流行病学研究表明，我国目前约有8900万肢体运动障碍患者、失能和半失能的老年人需要康复服务，平衡和下肢步态功能对日常生活质量的影响较大，因此提出一种康复助行机器人用于助老助残。康复助行机器人在居家和医疗机构使用过程中，稳定性和安全性是影响患者健康的重要因素。基于机器人倾覆力矩理论，分析康复机器人在危险情况下的稳定性，并通过优化控制算法，在有倾覆可能的情况下进行控制介入，防止倾覆发生，为患者的训练提供安全环境。通过运动学建模和倾覆力矩分析，仿真研究在日常运动、坐站转移和人机交互过程中的倾覆稳定性。更多还原

【Abstract】 An omni-directional robotic walker is proposed to provide lower limb assistance. In the using process of the robotic walker, tip-over stability is an important health issue. Based on the theory of the tip-over stability, the stability analysis is carried out to study the unsafe situation, with the optimized control algorithm, to prevent the unsafe situation and provide the patient with safe condition. This paper presents the kinematic model and tip-over moment, furthermore the simulation analysis is carried out to study the stability during the daily life, sit to stand test and human-machine interaction process.更多还原