Biomechanical model of the lower limb for dynamic control of knee rehabilitation parallel robot

摘要

Parallel robots are increasingly being used for rehabilitation of the lower limb due to their simplicity, versatility, robustness, load capacity and low cost. In the last decade, a few rehabilitation parallel robots (RPRs) have been developed, mainly for the ankle [1] and, more recently, for knee rehabilitation [2]. Unlike exoskeletons, RPRs do not exert mechanical actions on the joints, but over the distal end of the limb. For this reason, the control actions monitored from the robot may not coincide with those transmitted to the muscles and ligaments.