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1、选题意的患者，约 选题意的患者，约 60脑。据加一倍5国10%，工3）4）工3）4）图 2-图 2-多达十几次的调节变换（多达十几次的调节变换（图2-MIT外骨骼机器人滑块可调机准确测量脚底与地面之间的接触状况24等人25准确测量脚底与地面之间的接触状况24等人25图2-BLEEX足部结的苏黎的苏黎型化、舒适化及美观化的方向发展，具体体现在以下几个方面适性31适性31系研究目标及研究内拟解决的关键问题及难点a)在研究方拟解决的关键问题及难点a)在研究方技术路实验方预期创实验方预期创b)，1McGeerT.PassivedynamicwalkingJernationalJournalofRese

2、arch. 1990, 9(2): 62-2，1McGeerT.PassivedynamicwalkingJernationalJournalofResearch. 1990, 9(2): 62-2McGeer T. Dynamics and control otionJ . Journal Theoretical Biology. 1993, 166(3): 277-3M. Stability. Chaos, and Scaling Laws: PassiveDynamic Ms D . USA: iversity, 4Goswami A, Thuilot B, Espiau B. A st

3、udy of the passive gait of compass-edrobot:symmetryandchaosJernationalJournalRobotics Research.1998, 17(12): 1282-robots D . Delft University, 6YildirimH,G,BernardB.robots-a general frameworkJ . Automatic, 2004, 40: 1647-：大学框架MSchuellerGI.Ae-of-the-artreportonionalmechanicsR . Probability Engineerin

4、g Mechanics, 1997, 12(4): 197-KevinW.Hollander_ThomasG.Sugar_DonaldE.Herring.RoboticTendonusingaJackSpringJ.Proceedingsofthe2005ernationalConferenceonionRoboticsJune28-JulyChicago, IL, H.Kazerooni,AndrewChu,RyantWhichKevinW.Hollander_ThomasG.Sugar_DonaldE.Herring.RoboticTendonusingaJackSpringJ.Proce

5、edingsofthe2005ernationalConferenceonionRoboticsJune28-JulyChicago, IL, H.Kazerooni,AndrewChu,RyantWhichDoesNotWill Only Make Us StrongerR . ernational Journal of Research, Vol. 26, No. 1, January 2007, pp. 75-Freivogel S, Mehrholz J, Husak-Sotomayor TA, alohr D. training with the newly developed“ L

6、okoHelp”-system is feasible for ambulatory patients after stroke, spinal cord and brain injuryR . feasibility study. Brain Inj 2008; 22: Joaquin A. Blaya and Hugh Herr, Adaptive Control of Variable-le-FootOrthosistoAssistDrop-FootGaitJ.1, MARCH Pratt, J., Krupp, B., Morse, C. & Collins, S. The RoboK

7、nee: exoskeleton for enhancing nd endurance during walkingJ Proceedings of the 2004 ernational Conference on Robotics Automation 2430-2435 ，McGeer T. dynamic walkingJ ernational Journal Robotics Research. 9(2): 62-Theoretical Biology. 1993, 166(3): 277-M.Stability,Chaos,andScalingLaws:PassiveDynamic

8、Ms D . USA: iversity, Goswami A, Thuilot B, Espiau B. A study of the passive gait of compass-edrobot:symmetryandchaosJernationalJournalRobotics Research.1998, 17(12): 1282-Wisse M. Essentials of dynamic ysis and design two-legged robots D . Delft University, Yildirim H, G,Bernard B. stabilityand con

9、trol robots-a general frameworkJ . 2004, 40: 1647-：交通大学LinYK,CaiGQ.ProbabilisticStructuralDynamics-AdvancedandApplicationsJ . McGraw-Hill, Singapore, Robotics Research.1998, 17(12): 1282-Wisse M. Essentials of dynamic ysis and design two-legged robots D . Delft University, Yildirim H, G,Bernard B. s

10、tabilityand control robots-a general frameworkJ . 2004, 40: 1647-：交通大学LinYK,CaiGQ.ProbabilisticStructuralDynamics-AdvancedandApplicationsJ . McGraw-Hill, Singapore, the forced response of bladed disksJ . ASME Journal of Engineering er, 2004, 126(1): 131-Soize C. A nonparametric of random ies on 2000

11、, 277-C,DuhamelbD,SoizeC.Probabilisticapproachfordata iesand its experimental identification in dynamics: Case of ite sandwich panelsJ . Journal Sound Vibration, 2006, 294: 64-Avizienis A, Laprie J C, Randell B, Landwehr concepts taxonomy of dependable and secure computingJ . IEEE ions Dependableand Secure Computing, 1(1): 11-33, LkutaK,NokataM.Safetyevaluationmethodofdesignandcontrol22: 281江大学KleiberM,TranDH,Hi