WALK-ASSISTING BALANCE SYSTEM OF THE EXOSKELETON ROBOT FOR DISABLED PEOPLE

作     者：Yin Yuehong Zhou Chunlin Song Jiaren Chen Shiyi Han Tianpu Zhou Chen Research Institute of Robotics,Shanghai Jiaotong University,Shanghai 200030, China 

作者机构：Research Institute of RoboticsShanghai Jiaotong University 上海 200030 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2004年第17卷第2期

页      面：263-267页

核心收录：

学科分类：10[医学] 

基　　金：This project is supported by National Natural Science Foundation of China (No.60205006) and International Cooperation Foundation (Germany) 

主　　题：Balance system Ropewalker robot Exoskeleton robot 

摘      要：A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis- abled people is presented. The experiment on the walk-assisting balance system is implemented using a mini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model is built, and its control system based on PWM is developed. The emulations in Matlab and the results of experiments prove that this methodology is effective.