therapeutic instrument

LUO Qing-sheng1，XIAO Zhong-yang2，LU Pan3，ZHANG Zhuo-huang4，ZHAO Lei2

（1. School of Mechatronics，Beijing Institute of Technology，Beijing 100081，China；

2. School of Mechanical and Vehicular Engineering，Beijing Institute of Technology，Beijing 100081，China；

3. School of Automation，Beijing Institute of Technology，Beijing 100081，China；

4. School of Optoelectronics，Beijing Institute of Technology，Beijing 100081，China）

Abstract：Aiming at the problems about mechanical design of thewearable lumbodorsal therapeutic instrument，a new dual plane hingestructure was put forward，which makes the instrumentmarkedly more comfortable，more reliable and safer. The detailed deduction of the mechanism was executed based on mathematical method. The prototype was simulated with Matlab，so that the kinematics of key indicators can be obtained and the movement space and effect can be evaluated.Based on experiments on the experiment table of wearable lumbodorsal therapeutic instrument，experiments of measuring and wearing by volunteers were conducted.The results indicate

thatthe treatment effect of this wearable lumbodorsal therapeutic instrument is satisfactory. The development of ideas and analysis method can be used for other products.

Key words：wearable lumbodorsal therapeutic instrument；mechanical design；kinematic analysis；virtual prototype