Design and Optimization of Movable Cable-Driven Lower-Limb Rehabilitation Robot

摘要

In order to help patients with lower-limb dysfunction, a movable cable-driven lower-limb rehabilitation robot was designed to restore their motor function and improve their quality of life. Through controlling the position / posture and force of the lower limb, the robot can achieve comprehensive trainings of the lower limbs. The robot can assist patients in different rehabilitation stages to carry out rehabilitation training with passive, assistant and active mode. The kinematics modeling, statics modeling and workspace analysis were worked out, and the robot configurations were analyzed and optimized based on these. Continuous cable tension was worked out based on the 2-norm of the cable tension optimization algorithm as well. The foundation for subsequent research work of parallel cable-driven lower-limb rehabilitation robot was laid in this paper, which had reference significance for the research of flexible medical rehabilitation equipment.