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A multifunctional waist rehabilitation bed is designed for the traction therapy of human spine and gait rehabilitation training. The rehabilitation bed has four degrees of freedom, the rotation in the x, y, and z axis, and the movement in the z axis, which realizes traction treatment of lumbar spine rotation around coronal axis, vertical axis, sagittal axis and gait rehabilitation training. Considering the stability and safety during the rehabilitation process, the kinematic model of coronal-axis-rotation part, vertical-axis-rotation part and rehabilitation bed are established. Using MATLAB, the model and numerical simulation were carried out to obtain the curve of joint change when the waist rehabilitation bed was used for different functions, which verifies the effectiveness of the mechanism.

Mechanism design and kinematics analysis of multifunctional waist rehabilitation bed