Dynamic analysis of horizontal lower limbs rehabilitative robot

摘要

A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the force (torque) acting on joints in the course of recovery training should be well known. Based on the Lagrangian method, the dynamic equation of the horizontal lower limbs rehabilitative robot is deduced and the dynamics simulation is carried out using SimMechanics simulation tool, which shows the correctness of the dynamic modeling. Besides, the dynamic parameters of the robot and human lower limbs can be obtained conveniently when the motion law of control agent is given, which provides theoretical basis for the research of rehabilitation training strategy, dynamic performance analysis and high precision force control.