A research on the pelvis pose and position control mechanism of walking aid robot

摘要

In order to aid walking and limb rehabilitation training, a four-degree pelvic pose and position control mechanism of walking aid robot is discussed based on the motion laws of human pelvic. By applying modified D-H method, a kinematical coordinate system of the pose and position control mechanism is set up and the forward and inverse kinematics models are also built up. After the design of control models and the simulation analysis of them, a simulation curve of the motion laws in one gait circle is achieved. The result of simulation shows that this mechanism can realize the control over four-degree motions of human pelvis and this research supplies theoretical basis for the design of control system and the realization of motion control in walking aid robot.