Pelvic Control Mechanism And Experiment Research

Along with the medical rehabilitation received more social attention all over the word, aswell as applications of the rehabilitation robot has penetrated into the rehabilitation medicinegradually, and made some achievements and market recognition. Pelvic control mechanism isaided in patients with pelvic mimic normal pelvis trajectory to reach the lower limb gaitrehabilitation training process, has a broad research value and market prospect.This paper first introduced on the lower limbs rehabilitative robot development at homeand abroad, as well as the corresponding to the rehabilitation robot applications, advantagesand disadvantages of etc. In the human pelvis characteristics and movement on the basis oflaw, analysis of the pelvic control mechanism, the motor selection and system control scheme.Secondly, in the original mechanism is proposed on the basis of the passive and activerobot theory, the control scheme and the drive scheme, as well as corresponding to thewalking motor selection, which makes the rehabilitation robot for rehabilitation training inpatients with more humanization.Again, on the pelvic control mechanism kinematic and dynamic mathematical modelanalysis, and use the MATLAB/Simulink tool to accomplish the model simulation analysis,thus obtains the joint displacement/angle curve, and then through SimMechanics mechanismmuti-joint simulation analysis.Finally, using the dSPACE semi-physical real-time simulation platform for pelvic controlmechanism experimental study was conducted to validate the motor selection, modelsimulation of the rationality and correctness.