Abstract
At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motion training of lower limb’s flexion and extension. A kind of the lower limb rehabilitation robot is conceived which can achieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed to research the robot’s structure and motion planning. When analyzing the typical movement forms of the lower limb, the relation of man–machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot is conceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method is used to analyze the kinematics of the robot. According to the rehabilitation training of man–machine cooperation relations, the trajectory planning strategy is studied. A robot configuration that meets the needs of rehabilitation motion trajectory planning is drawn by setting the parameters of the robot mechanism and simulation. According to the trajectory of the training program, the simulation analysis of the state of wire movement is carried out. The experimental study of adduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.
Highlights
With the fast pace of modern life and lifestyle changes, from the treatment of stroke and infantile paralysis patients to muscle rehabilitation, besides early surgical treatment, recovery training is very important in the later stage.[1]
According to the functional of the lower limb rehabilitation training robot, it is divided into the multifunctional lower limb rehabilitation robot (LLRR) and local functional rehabilitation robot
The robot mechanism and trajectory planning are analyzed and the results prove the feasibility and effectiveness of the robot
Summary
With the fast pace of modern life and lifestyle changes, from the treatment of stroke and infantile paralysis patients to muscle rehabilitation, besides early surgical treatment, recovery training is very important in the later stage.[1]. Referring to a kinematic model of 6 DoFs of the human body’s lower limb[16] and according to the trajectory of the rehabilitation process of the lower limb control points with changing the joint angle, the position of the pedal center point in the abduction and adduction movements is solved. From the man–machine trajectory planning training and kinematics analysis of the moving platform, the speed and acceleration of the screw nut mechanism and moving platform center point had the following relationship At this point, when determining the strategy of the lower limb rehabilitation training, the motion law of the robot can be planned. Inverse kinematics of a rigid–flexible hybrid robot are simulated and analyzed in the MATLAB environment, and the motion law of length, velocity, and acceleration of the four wires of the driving moving platform can be obtained, which is changing with time. In (T =2) À T , the variation factors of the length, velocity, and acceleration of each wire are the same as in the first half of the cycle
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