Abstract
Rehabilitation robots have played an increasing role in improving the quality of life of patients. Combined with the mechanism of pelvic motion, we propose a cable-driven parallel rehabilitation robots and a cable force optimization scheme to help patients perform lower limb rehabilitation training. We introduce an alternative objective function for the case of mutation of the optimization result. Based on analyzing the movement intention of the patient, we implement different assistive functions according to the different movement intentions, such as balance assistance and movement assistance. Our solution eliminates the need for a treadmill and allows patients to train on multiple trajectories over a larger area. We designed a numerical experiment to validate our optimization model, and the results show that our method can well assist patients to perform rehabilitation training.
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Acknowledgements
The authors would like to thank the National Natural Science Foundation of China: “Basic Theory and Key Technology of High-Performance Rigid-Flexible Coupling Driven Spraying Robot for Large and Complex Components”, Project No. 52335002, for the support of this work.
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Zhao, X., Zhao, K., Du, J. (2025). Optimization of Cable Tension for a Cable-Driven Parallel Rehabilitation Robot Considering Dumping Judgment and Pelvic Motion Mechanism. In: Ge, S.S., Luo, Z., Wang, Y., Samani, H., Ji, R., He, H. (eds) Social Robotics. ICSR + BioMed 2024. Lecture Notes in Computer Science(), vol 14916. Springer, Singapore. https://doi.org/10.1007/978-981-97-8963-4_6
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DOI: https://doi.org/10.1007/978-981-97-8963-4_6
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