Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

In order to improve the working performance of the lower limb rehabilitation robot and the safety of the trained object, the mechanical characteristics of a cable-driven lower limb rehabilitation robot (CDLR) are studied. The dynamic model of the designed CDLR was established. Four kinds of cable te...

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Bibliographic Details
Published in:Robotica 2022-01, Vol.40 (1), p.154-169
Main Authors: Wang, Yan-lin, Wang, Ke-yi, Chai, Yu-jia, Mo, Zong-jun, Wang, Kui-cheng
Format: Article
Language:English
Subjects:
Algorithms
Dynamic models
Mechanical properties
Optimization
Optimization algorithms
Rehabilitation
Rehabilitation robots
Robots
Safety
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Summary:In order to improve the working performance of the lower limb rehabilitation robot and the safety of the trained object, the mechanical characteristics of a cable-driven lower limb rehabilitation robot (CDLR) are studied. The dynamic model of the designed CDLR was established. Four kinds of cable tension optimization algorithms were proposed to obtain a good rehabilitation training effect, and the quality of the feasible workspace of the CDLR was analyzed. Finally, a real-time evaluation index of the cable tension optimization algorithms was given to measure the calculation speed of the optimization algorithms. The numerical research results were provided to confirm the characteristics of the four kinds of the optimization algorithms. The research results provide a basis for the follow-up research on the safety and compliance control strategy of the CDLR system.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574721000448