Synthesis and Analysis of a Lower-extremity Rehabilitation in Parallel

doi:10.3901/JME.2022.03.055

Abstract

Abstract: Aiming at hemiplegia and stroke patients with lower extremity dyskinesia, a type of lower extremity rehabilitation mechanism based on parallel mechanism is proposed. This kind of mechanism has three translational degrees of freedom, and its structure is symmetrical about a single plane. Rehabilitation agency based rehabilitation stance, driven by the movement of the ankle joint moving platform to complete the human lower limb rehabilitation training, diversification of forms of rehabilitation, the rehabilitation process of patients able to obtain a certain flexibility and comfort. Based on the spiral theory type synthesis method, four basic configurations with 4 branch degrees of freedom are given, and a parallel mechanism with a branch structure of PRPR is selected as the rehabilitation actuator; the kinematics analysis of the mechanism is carried out, and the mechanism is obtained. workspace; trajectory planning was based on different forms of rehabilitation; the angle coronal and sagittal experimental verification mechanism having a performance of the motion plane is not limited.

Key words: lower limb rehabilitation, parallel mechanism, triple translation, mechanism synthesis

CLC Number:

TP242

LI Shuang, LI Yanwen, ZHAO Meixin, CHEN Ziming, ZHU Weiguo. Synthesis and Analysis of a Lower-extremity Rehabilitation in Parallel[J]. Journal of Mechanical Engineering, 2022, 58(3): 55-64.

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