Design and Analysis of a Parallel Cable Driven Lower Limb Rehabilitation Robot for Multi Joints Training

doi:10.3901/JME.2024.17.111

Abstract

Abstract: At present, rehabilitation demand in China is huge and showing a continuous growth trend, rehabilitation robots are an important means to solve this problem. In view of the limitations of existing lower limb rehabilitation robots in terms of human-computer interaction, training methods and economy, a cable-driven parallel lower limb rehabilitation robot is proposed, which realizes a wide range of movement of the user’s lower limbs through four cables distributed in parallel. The kinematics and statics model of the robot are established, and the pulley friction in the cable-driven mechanism is modeled and identified. Aiming at the problem that the user’s position is uncertain each time, a method for auto-identification of the user’s location without the help of external devices is proposed. Based on this position recognition parameter, the robot adapts the user’s rehabilitation training parameters each time to achieve a precise rehabilitation strategy. An experimental platform is built to verify the feasibility of independent identification of user position through experiments, and the law of joint torque and force is explored, and the accuracy of passive training of lower limb rehabilitation robot is tested.

Key words: lower limb rehabilitation, cable driven, position identification, frictional force, soft rehabilitation robot

CLC Number:

TG156

ZHANG Yuze, ZHAO Jingfu, ZHAO Zhenwei, KANG Rongjie, DAI Jiansheng, SONG Zhibin. Design and Analysis of a Parallel Cable Driven Lower Limb Rehabilitation Robot for Multi Joints Training[J]. Journal of Mechanical Engineering, 2024, 60(17): 111-122.

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