Synthesis and Analysis of a Lower-extremity Rehabilitation in Parallel

被引：0
作者：
Li S. [1 ,2 ]
Li Y. [1 ,2 ]
Zhao M. [1 ,2 ]
Chen Z. [1 ,2 ]
Zhu W. [3 ]
机构：
[1] Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao
[2] Key Laboratory of Advanced Forging& Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao
[3] Advanced Manufacturing Technology Key Laboratory, Huaiyin Institute of Technology, Huaiyin
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2022年 / 58卷 / 03期
关键词：
Lower limb rehabilitation; Mechanism synthesis; Parallel mechanism; Triple translation;
D O I：
10.3901/JME.2022.03.055
中图分类号：
学科分类号：
摘要：
Aiming at hemiplegia and stroke patients with lower extremity dyskinesia, a type of lower extremity rehabilitation mechanism based on parallel mechanism is proposed. This kind of mechanism has three translational degrees of freedom, and its structure is symmetrical about a single plane. Rehabilitation agency based rehabilitation stance, driven by the movement of the ankle joint moving platform to complete the human lower limb rehabilitation training, diversification of forms of rehabilitation, the rehabilitation process of patients able to obtain a certain flexibility and comfort. Based on the spiral theory type synthesis method, four basic configurations with 4 branch degrees of freedom are given, and a parallel mechanism with a branch structure of PRPR is selected as the rehabilitation actuator; the kinematics analysis of the mechanism is carried out, and the mechanism is obtained. workspace; trajectory planning was based on different forms of rehabilitation; the angle coronal and sagittal experimental verification mechanism having a performance of the motion plane is not limited. © 2022 Journal of Mechanical Engineering.
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页码：55 / 64
页数：9
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