Research on Theory and a Performance Analysis of an Innovative Rehabilitation Robot

Autor: Junyu Wu, Yubin Liu, Jie Zhao, Xizhe Zang, Yingzi Guan
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: Sensors, Vol 22, Iss 10, p 3929 (2022)
Druh dokumentu: article
ISSN: 22103929
1424-8220
DOI: 10.3390/s22103929
Popis: This paper presents an innovative application of a 6-DOF robot in the field of rehabilitation training. This robot operates in a parallel fashion for lower limb movement, which adopts a new structure that can help patients to carry out a variety of rehabilitation exercises. Traditional parallel robots, such as the Stewart robot, have the characteristics of strong bearing capacity. However, it is difficult to achieve high-speed, high-acceleration and long journey movement. This paper presents a new robot configuration that can address these problems. This paper also conducts an all-around characteristic analysis of this new parallel robot, including kinematics, dynamics and structure, to better study the robot and improve its performance. This paper optimizes an algorithm to make it more suitable for rehabilitation training. Finally, the performance improvements brought by optimization are verified by simulations.
Databáze: Directory of Open Access Journals
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