Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

Abstract

In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is applied to establish the kinematic model of the robot, and the relationship between the human joint angle and the cable length change was deduced. Considering joint compliance, a fifth-order polynomial trajectory planning method based on an S-shaped curve is proposed by introducing an S-shaped velocity curve, and the changes in cable length displacement, velocity, and acceleration are simulated and analyzed. Three planning methods are compared based on two indices, and experimental verification is carried out on the rehabilitation experiment platform. The simulation and experimental results show that the trajectory planning method presents low energy consumption and strong flexibility, and can achieve better rehabilitation effect, which builds a good basis for the subsequent study of dynamics and control strategy.

Keywords

• cable-driven rehabilitation robot
• kinematics
• trajectory planning
• fifth-order polynomial
• flexibility