In order to improve the working performance of the lower limb rehabilitation robot and the safety of the trained object, the mechanical characteristics of a cable-driven lower limb rehabilitation robot (CDLR) are studied. The dynamic model of the designed CDLR was established. Four kinds of cable tension optimization algorithms were proposed to obtain a good rehabilitation training effect, and the quality of the feasible workspace of the CDLR was analyzed. Finally, a real-time evaluation index of the cable tension optimization algorithms was given to measure the calculation speed of the optimization algorithms. The numerical research results were provided to confirm the characteristics of the four kinds of the optimization algorithms. The research results provide a basis for the follow-up research on the safety and compliance control strategy of the CDLR system.

中文翻译：

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索驱动下肢康复机器人力学优化方法研究

为了提高下肢康复机器人的工作性能和受训对象的安全性，对电缆驱动下肢康复机器人（CDLR）的力学特性进行了研究。建立了所设计的CDLR的动力学模型。提出了4种索张力优化算法以获得良好的康复训练效果，并对CDLR可行工作空间的质量进行了分析。最后，给出了索张力优化算法的实时评价指标，用以衡量优化算法的计算速度。数值研究结果证实了四种优化算法的特点。