Cable-driven parallel robots (CDPR) have been well used in the rehabilitation field. However, the cables can provide the tension in a single direction, there is a pseudo-drag phenomenon of the cables in the CDPR, which will have a great impact on the safety of patients. Therefore, the novelty of this work is that a bionic muscle cable is used to replace the ordinary cable in the CDPR, which can solve the pseudo-drag phenomenon of the cables in the CDPR and improve the safety performance of the rehabilitation robot. The cable-driven lower limb rehabilitation robot with bionic muscle cables is called as the bionic muscle cable-driven lower limb rehabilitation robot (BMCDLR). The motion planning of the rigid branch chain of the BMCDLR is studied, and the dynamics and system stiffness of the BMCDLR are analyzed based on the man–machine model in this paper. The influence of the parameters of the elastic elements in the bionic muscle cables on the mechanical characteristics of the BMCDLR system was analyzed by using simulation experiments. The research results can provide a reference basis for research on the safety evaluation and control methods of the BMCDLR system.

中文翻译：

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仿生肌肉电缆驱动下肢康复机器人的力学特性分析

电缆驱动的并联机器人（CDPR）在康复领域得到了很好的应用。但是，电缆可以提供单一方向的张力，在CDPR中存在电缆的伪拖拽现象，这将对患者的安全产生很大影响。因此，本工作的新颖之处在于用仿生肌肉拉索代替CDPR中的普通拉索，可以解决CDPR中拉索的伪拖拽现象，提高康复机器人的安全性能。具有仿生肌肉电缆的电缆驱动下肢康复机器人被称为仿生肌肉电缆驱动下肢康复机器人（BMCDLR）。研究了BMCDLR刚性支链的运动规划，并基于人机模型分析了BMCDLR的动力学和系统刚度。通过仿真实验分析了仿生肌肉索中弹性元件参数对BMCDLR系统力学特性的影响。研究结果可为BMCDLR系统安全评价与控制方法的研究提供参考依据。