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第6期 衣淳植，等：下肢外骨酪研究进展及关节运动学解算综述 ·887· gies[C]//Proceedings of 2005 IEEE International Confer- 1228-1239 ence Mechatronics and Automation.Niagara Falls,Ont., [45]KONG K,JEON D.Design and control of an exoskelet- Canada.2005:1099-1106. on for the elderly and patients[J].IEEE/ASME transac- [32]ONISHI T.ARAI T.INOUE K,et al.Development of the tions on mechatronics,2006.11(4):428-432. basic structure for an exoskeleton cyborg system[J].Arti- [46]MORI Y.TAKAYAMA K,NAKAMURA T.Develop- ficial life and robotics,2003,7(3):95-101. ment of straight style transfer equipment for lower limbs [33]法国RB3D公司.http:www.rb3d.com/en/[Z☑.2018 disabled[C]//Proceedings of 2004 IEEE International [34]KOSSO E V.A minimum energy exoskeleton[C]//Pro- Conference on Robotics and Automation.New Orleans, ceedings of Carnahan Conference on Electronic Prosthet- LA.USA.2004:2486-2491. ics.Carnahan,UK,1973:86-89. [47]HARTIGAN C,KANDILAKIS C,DALLEY S,et al. 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Automatic anatomical calibration for IMU-based elbow angle measurement in disturbed magnetic fields[J]. Current directions in biomedical engineering, 2017, 3(2): 167–170. [50] DEL-AMA A J, MORENO J C, GIL-AGUDO À, et al. Online assessment of human-robot interaction for hybrid control of walking[J]. Sensors, 2012, 12(1): 215–225. [51] DEL-AMA A J, GIL-AGUDO Á, PONS J L, et al. Hybrid gait training with an overground robot for people with incomplete spinal cord injury: a pilot study[J]. Forntiers in human neuroscience, 2014, 8: 298. [52] HOLLANDER K W, ILG R, SUGAR T G, et al. An efficient robotic tendon for gait assistance[J]. Journal of biomechanical engineering, 2006, 128(5): 788–791. [53] BHARADWAJ K, SUGAR T G, KOENEMAN J B, et al. Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation[J]. Journal of biomechanical engineering, 2005, 127(6): 1009–1013. [54] AGRAWAL A, BANALA S K, AGRAWAL S K, et al. Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation[C]//Proceedings of the 9th International Conference on Rehabilitation Robotics. Chicago, IL, USA, 2005: 41–44. [55] NIKITCZUK J, WEINBERG B, MAVROIDIS C. RehAbilitative knee orthosis driven by electro-rheological fluid based actuators[C]//Proceedings of 2005 IEEE International Conference on Robotics and Automation. Bar- [56] 第 6 期 衣淳植，等：下肢外骨骼研究进展及关节运动学解算综述 ·887·