Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot

摘要

The dynamic performance of a 2-DOF hip joint rehabilitation robot configuration for patients with hip joint dyskinesia was analyzed. There were eight revolute pairs on one side of the hip joint rehabilitation robot configuration. The dynamics of the robot configuration were analyzed with the Newton-Euler method, and a dynamic model was developed. On the basis of the solved dynamic model, the dynamic performance index of the hip joint rehabilitation robot configuration is given, and the performance atlas under different parameters is drawn. The performance of the hip joint rehabilitation robot is theoretically verified. This study provides a theoretical basis for the research and development of exoskeleton rehabilitation robots.