Study on the Man-machine Motion Planning of Rigid-flexible Hybrid Rehabilitation Robot

At present, the general lower limb rehabilitation training robot is only achieving motion training of lower limbs flexion and extension.The lower limb rehabilitation training robot was conceived that includ the rigid mobile vice-flexible driving system, which realized the lower limbs movement of adduction or abduction and Internal or external rotation at the same time, and its aimed to research the robot’s structure and motion planning. The kinematics model of the robot was analyzed by the influence coefficient method. According to the rehabilitation training of man-machine cooperation relations, kinematic simulation analysis was carried out. The simulation analysis of the state of flexible cable movement was conducted by the trajectory of the training program, which provided the foundation for the system dynamics modeling and the selection of the driving element.