Path Planning for a Cable-Driven Parallel Waist Rehabilitation Robot Based on Discriminant Analysis Model

摘要

In order to design a reasonable and effective training trajectory for a waist rehabilitation robot, waist motion data of several healthy male adults in waist twisting are collected by motion capture technology. In this paper, three fitting models are used to obtain the mathematical model of waist motion trajectory at human pelvic center. Aimed at the influence of movement variability, a discriminant analysis model for waist twist motion data fitting is proposed and verified by the data of other volunteers. The processing model of waist motion data can be used to obtain the motion law of waist feature points of healthy male adults in waist twist movement, and the fitted waist trajectory can be used as a reference and evaluation for the selection of rehabilitation training trajectory of waist rehabilitation robots.