Design and control of mechanical structures for sit-to-rehabilitation training

Abstract

Physical rehabilitation training using an intelligent control system is important for the people with lower limb dysfunction. In this paper, the sit-to-stand (STS) trajectory of health persons is researched based on STS biomechanics model. Several novel mechanical structures for intelligent lower limb STS rehabilitation training system are presented. According to the mechanical analysis of its finite element model, the size and structure was optimized using software (Hyperworks). Finally, a mechanical structure with several degrees of freedom is designed and optimized. Each joint angle of the lower limb in the STS process is assessed by experiment and used to instruct the control of the designed lower limb rehabilitation training robot. The results show that the mechanical structures and the STS biomechanical model are suitable for the lower limb rehabilitation training.