Abstract
For a new type of lower limb rehabilitation robot for the stroke with 4 degrees of freedom(DOF), the D-H method was used to analyze the kinematics, the kinematic equations were established, and the workspace of the rehabilitation robot was simulated. Based on the Lagrange equations, the dynamic equations of the rehabilitation robot were deduced and the torque of each joint was simulated. Finally, the gravity compensation mechanism was designed to optimize the starting torque and maximum torque of the flexion and extension joint of hip, the sum of which was reduced by 72.51%.
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Acknowledgements
This project is supported by the National Key Research and Development Program of China (No. 2017YFB1303200), and National Natural Science Foundation of China (Grant No. 51705500).
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Dong, L., Li, L., Chen, S. (2020). Kinematics Analysis and Dynamics Simulation Optimization of Lower Limb Rehabilitation Robot for the Stroke. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_15
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DOI: https://doi.org/10.1007/978-981-15-0142-5_15
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