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Mechanical Analysis of a Hybrid Approach for a Lower Limb Rehabilitation Robot

机译：低肢康复机器人混合方法的力学分析

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The design of lower limb rehabilitation robot can be categorized into two approaches: the end-effector and the exoskeleton. Both types of the robots have different advantages and disadvantages. The exoskeleton type is designed to mimic the kinematic structure of the human skeleton by controlling hip and knee joints but the end-effector type is driven at the footplate which allows patients to perform various gait training exercise. In this paper, the end-effector and exoskeleton device are compared based on dynamical analysis using Matlab's Simechanics simulation. The hybrid lower limb rehabilitation robot is also proposed based on the exoskeleton robot with the adjustable mechanical coupling interface between human and robot and the active footplate. The hybrid design combines the advantages of both the exoskeleton and the end-effector by allowing the mechanical coupling parameters and the active footplate controller to be adjustable at different stages of training. The proposed design can improve both joints misalignment and joint trajectory tracking problems in both existing approaches.
机译：下肢康复机器人的设计可以分为两种方法：末端效应器和外骨骼。两种类型的机器人具有不同的优点和缺点。外骨骼型设计用于通过控制髋关节和膝关节来模拟人骨架的运动学结构，但末端效应器类型在脚板上被驱动，允许患者进行各种步态训练锻炼。在本文中，基于使用MATLAB的Simechanics仿真的动态分析比较了末端效应器和外骨骼装置。还基于具有人与机器人和活性脚踏板之间的可调节机械耦合界面的外骨骼机器人提出了混合的下肢康复机器人。混合设计通过允许机械耦合参数和活性脚板控制器在不同的训练的不同阶段可调，结合了外骨骼和末端效应器的优点。建议的设计可以改善两种现有方法中的关节未对准和联合轨迹跟踪问题。

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