Keyi Wang, Haipeng Yang, Wanli Wang, and Zhuang Han


Rehabilitation robots, rigid–flexible coupled robots, gait correction, wires-driven force, force configuration


A rigid–flexible coupled robot configuration designed to understand the functional requirements of gait correction training for lower limb rehabilitation robots was proposed. By matching the trajectory of normal human gait, the input for the robot was obtained, the gait correction training pattern was analysed, and a planning strategy for the rigid chain was suggested. By considering the vibration problems of the wire-drive unit, which were caused by an unreasonable configuration of the drive force of the wires, the reason for the concussion existing in the system was analysed by building a mathematic model of the system. Several types of allocation plans were presented. All of these measures were employed to optimize the drive characteristics of the wires. A simulation of the tension on the wires was performed using MATLAB software, and a rope tension allocation plan that satisfied the requirements for the rope unit stability was developed. In addition, the validity of the allocation plan was visually verified by a figure with a spatial curved surface about the driven tension of the wires. The wire tension configuration method, which has important significance for configuring the wire drive force in paralleled robots, was researched in this paper.

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