中文摘要：

背景：2005年成功研制出下肢康复机器人系统,该机器人通过中心控制系统和步态、姿态控制系统互相协调,带动下肢各种运动,从而达到恢复下肢功能的目的。目的：对下肢康复助力机器人做动力学分析。方法：该系统为一个复杂的动力系统,由多个关节和多个连杆组成,具有多个输入和多个输出,分析其运动和作用力之间的关系。通过运动信息感知网,实现机器人系统主动为使用者提供完成髋关节屈/伸、旋内/旋外及外展/内收功能恢复动作的助力支持。结果与结论：利用动力学方程完成人-机混合系统的控制。减小人体感受的运动强度,使练习者能充分完成功能恢复动作,随着康复者下肢力量的加强和动作的熟练程度的提高,通过改变系统控制参数,系统会逐步减少对其助力支持,直到康复。

英文摘要：

BACKGROUND：In 2005,the successful production of lower extremity rehabilitation robot system can co-promote the delivery of leg movement through the central control system as well as the gait and attitude control system so as to restore lower limb function.OBJECTIVE：To perform the mechanical analysis of the rehabilitation power assist robot.METHODS：Power assist exoskeleton is a complicated dynamical system composed of many joints and links,and it is a MIMO.Power assist robot dynamics is about the movement-force relationship,and its results of simulation are used to optimize the system.Through motion information perception,the rehabilitation power assist robot provides power for wearer hip joint to accomplish motion of flexion/extension,abduction/adduction and internal rotation/external rotation.RESULTS AND CONCLUSION：The dynamical equation is used to realize the hybrid control.The practitioner can fully completed functional recovery action,with promotion of practicer limb strength and action proficiency,the system gradually reduces the power support until the recovery.