Open AccessResearch of Wire-driven Parallel Lower Limb Rehabilitation Robot
Author(s) -
Jie Zhao,
X. Y. Zhou,
Xianun Yang,
Zhiming Yao
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2229/1/012025
Subject(s) - workspace , parallel manipulator , robot , trajectory , simulation , lower limb , rehabilitation , computer science , matlab , wrench , motion (physics) , control theory (sociology) , engineering , artificial intelligence , physics , physical therapy , mechanical engineering , medicine , surgery , control (management) , astronomy , operating system
To realize the lower limb rehabilitation training with multiple-degree-of-freedom, a wire-driven parallel lower limb rehabilitation robot with six wires is designed. The static and dynamic models of the parallel robot are established, and the feasible wrench workspace of the robot is calculated based on the motion law of lower limb rehabilitation in lying posture. And the motion trajectory of a wire-driven robot is planned according to the human lower limb D-H model. The variation laws of wire length and speed are calculated by MATLAB simulation, which verifies the feasibility of the wire-driven parallel lower limb rehabilitation robot.