2025 年 19 巻 3 号 p. JAMDSM0028
In recent years, the number of lower limb injuries caused by stroke and traffic accidents has been increasing year by year, and the demand for rehabilitation equipment in the medical field is growing. This article proposes a rope driven lower limb rehabilitation robot and research on the fuzzy assisted interactive control. Firstly, according to the design requirements, the structure of the rope driven lower limb rehabilitation robot was designed, and its kinematics is analyzed to derive the inverse and forward kinematics solutions. Secondly, the feedback tension of the rope was processed with the gravity compensation database to obtain the active driving force for each posture of the patient. After fuzzifying, the active driving force was brought in fuzzy knowledge base to obtain the assisted pose parameters. Again, the obtained assistance pose parameters were softened through impedance control Double S velocity planning and admittance control, thereby achieving fuzzy assistance interaction control. Finally, the prototype of the lower limb rehabilitation robot was developed, and the rehabilitation exercise experiments were conducted to verify the feasibility and correctness of the control method. The research results provide theoretical and experimental basis for the design and control of medical rehabilitation robots.
