Mechanism Design and Kinematic Analysis of a Waist and Lower Limbs Cable-Driven Parallel Rehabilitation Robot

In this paper, a waist and lower limbs cable-driven parallel rehabilitation robot is designed to perform waist and lower limbs rehabilitation simultaneously and separately. It is designed based on the analysis of the human biomechanics and can reduce the cost, meet the needs of more patients and reduce the weight of the robot. The mechanism design is firstly proposed in this paper. The rehabilitation robot is mainly composed of four motor driven parallel motion platform, which can provide active motion to realize the waist rehabilitation in three degrees of freedom (DOF). It also includes a lower limbs adjustable mechanism to realize the hip, knee and ankle rehabilitation training. In addition, the kinematic analysis and numerical simulation of the robot are presented. The simulation results demonstrate that the designed rehabilitation robot is effective and safe with a good kinematic performance.