Optimization of walking assistance mechanism in rehabilitation wheelchair

In order to help the lower limbs disabled persons to finish rehabilitation walking training, a new kind of walking assistance mechanism in rehabilitation wheelchair is proposed. Based on the kinematics analysis and static analysis, the dynamic model is established by Simultaneous constraint method. Dimensions optimization, kinematics simulation and dynamic simulation are finished by using MATLAB soft ware, the simulation results showed that the mechanism's motion law is more similar to human normal walking characteristic after dimensions optimization, and unilateral mechanism driven by one actuator can control the leg to finish rehabilitation walking training.

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