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

Published online by Cambridge University Press:  07 May 2021

Yan-lin Wang Open the ORCID record for Yan-lin Wang [Opens in a new window] ,
Ke-yi Wang ,
Yu-jia Chai ,
Zong-jun Mo  and
Kui-cheng Wang
Yan-lin Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Ke-yi Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Yu-jia Chai
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Zong-jun Mo
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Kui-cheng Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. Email: wangkeyi@hrbeu.edu.cn
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Abstract

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.

Keywords

Cable-driven robotRehabilitation robotMechanical characteristicsOptimization algorithmsQuality of feasible workspace
Type
Article
Information
Robotica , Volume 40 , Issue 1 , January 2022 , pp. 154 - 169
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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