为下肢(zhi)(zhi)截(jie)瘫(tan)病人设计了一款动(dong)(dong)(dong)力(li)下肢(zhi)(zhi)外骨骼(ge)，帮助截(jie)瘫(tan)病人实现了站(zhan)立、坐下、行(xing)走等功能，下肢(zhi)(zhi)外骨骼(ge)的驱(qu)动(dong)(dong)(dong)器(qi)(qi)采(cai)用(yong)电(dian)机(ji)结合磁流变制(zhi)动(dong)(dong)(dong)器(qi)(qi)以及柔性(xing)弹簧降低了驱(qu)动(dong)(dong)(dong)器(qi)(qi)功耗。采(cai)用(yong)了电(dian)机(ji)与磁流变制(zhi)动(dong)(dong)(dong)器(qi)(qi)串联从(cong)(cong)而(er)(er)降低驱(qu)动(dong)(dong)(dong)器(qi)(qi)功耗。提出了基(ji)于(yu)脚底地(di)面(mian)作用(yong)力(li)分布，采(cai)用(yong)半马尔(er)可夫模(mo)型预测下肢(zhi)(zhi)运动(dong)(dong)(dong)功能障碍患者的病态(tai)步态(tai)，从(cong)(cong)而(er)(er)控制(zhi)动(dong)(dong)(dong)力(li)膝关节矫形器(qi)(qi)帮助患者实现行(xing)走功能，曾发(fa)表在康复(fu)医疗顶级(ji)期刊TNSRE上。
