Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot

2nd International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Wang, Hongbo^1^3 ; Lin, Musong^1^2 ; Yan, Yonggan^1 ; Liu, Guowei^1 ; Su, Bowen^1 ; Zhao, Chaosheng^1 ; Wang, Fuhao^3

Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China^1

Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao, China^2

Academy for Engineering and Technology, Fudan University, Shanghai, China^3

关键词: Ankle joints;    Dynamics analysis;    Hip joints;    Knee joint;    Lower limb;    Software ADAMS;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/490/6/062035/pdf
DOI  :  10.1088/1757-899X/490/6/062035

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future.