DESIGN AND ANALYSIS OF A LOWER LIMBS HORIZONTAL ROBOT FOR FEMORAL SHAFT FRACTURE REHABILITATION USING LINEAR ACTUATORS

This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinematics solution of the robot is given. The working space and the trajectory planning is studied. Based on the Lagrangian method, the dynamic equation of the robot is deduced and the dynamics simulation is carried out using MATLAB. A PD controller is proposed for trajectories tracking.