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目 錄
中文摘要......................................................................................................................I
Abstract .......................................................................................................................II
第一章 緒論.............................................................................................................1
1.1研究背景..................................................................................................................1
1.2下肢康復(fù)機(jī)器人概況 ....................................................................................2
1.2.1康復(fù)機(jī)器人研究歷史.................................................................................2
1.2.2下肢康復(fù)機(jī)器人分類.............................................................3
1.3下肢康復(fù)機(jī)器人的研究現(xiàn)狀...............................................................................5
1.3.1國(guó)外研究現(xiàn)狀.......................................................................................5
1.3.2國(guó)內(nèi)研究現(xiàn)狀.................................................................................;.....9
1.4下肢康復(fù)機(jī)器人研究存在的問(wèn)題........................................................11
1.5課題意義及主要研究?jī)?nèi)容...............................................................................11
第二章 穿戴式機(jī)械腿機(jī)構(gòu)運(yùn)動(dòng)分析..................................................13
2.1 引言..................................................................................................13
2.2人體下肢生物骨骼模型...................................................................................13
2.3骨骼的運(yùn)動(dòng)與下肢關(guān)節(jié).........................................................................13
第三章 穿戴式機(jī)械腿機(jī)構(gòu)設(shè)計(jì).......................................................19
3.1穿戴式機(jī)械腿設(shè)計(jì).......................................................................................19
3.1.1三維模型設(shè)計(jì).......................................................................................19
3.1.2膝關(guān)節(jié)、踝關(guān)節(jié)及腳部設(shè)計(jì)...........................................................................21
3.1.3下肢連接器...........................................................................................26
3.1.4大小腿彈簧助力器及保護(hù)...........................................................26
3.1.5下肢骸部設(shè)計(jì).........................................................................................28
3.1.6 腿部固定............................................................................................30
第四章 強(qiáng)度校核.........................................................................................31
4.1關(guān)節(jié)旋轉(zhuǎn)連接器受力分析.....................................................................31
設(shè)計(jì)總結(jié).............................................................................................34
參考文獻(xiàn)...............................................................................................36
致謝.....................................................................................................38