摘要：At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motion training of lower limb’s flexion and extension. A kind of the lower limb rehabilitation robot is conceived which can achieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed to research the robot’s structure and motion planning. When analyzing the typical movement forms of the lower limb, the relation of man–machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot is conceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method is used to analyze the kinematics of the robot. According to the rehabilitation training of man–machine cooperation relations, the trajectory planning strategy is studied. A robot configuration that meets the needs of rehabilitation motion trajectory planning is drawn by setting the parameters of the robot mechanism and simulation. According to the trajectory of the training program, the simulation analysis of the state of wire movement is carried out. The experimental study of adduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.
关键词：Wire traction; rehabilitation robot; adduction and abduction; internal and external rotation; motion planning
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