The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot

摘要

At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motiontraining of lower limb’s flexion and extension. A kind of the lower limb rehabilitation robot is conceived which canachieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed toresearch the robot’s structure and motion planning. When analyzing the typical movement forms of the lower limb, therelation of man–machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot isconceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method isused 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 trajectoryof the training program, the simulation analysis of the state of wire movement is carried out. The experimental study ofadduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.