A new design of gait rehabilitation robot with cable-suspended configuration is proposed. Due to the under-constrained nature, it enables reducing the constraint feeling of patients. Cables are attached to cuffs mounted on the leg. A detailed mechanical design is presented and a kinematics model is developed. Dimensional synthesis is performed in two steps. First, the cable disposition should be determined within a range to maintain cable-suspended configuration using the minimum 2-norm solution of tensions. Second, the optimal cable disposition is achieved with the Root Mean Square of tension solutions. Gait rehabilitation robots with three or four cables are discussed and compared to determine dimensional parameters in terms of the locations of pulleys. A simulation model with ADAMS software is presented and the cable module is utilized to imitate the cable-driven system in real. Tension distribution is obtained from the simulation model, which is employed in comparison with the calculated values. The simulation results demonstrate the effectiveness of the presented method.

中文翻译：

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最小 2 范数张力下步态康复电缆悬挂机器人的维数合成

提出了一种新型的索悬式步态康复机器人设计方案。由于约束不足的性质，它可以减少患者的约束感。电缆连接到安装在腿上的袖口。介绍了详细的机械设计并开发了运动学模型。维度合成分两步进行。首先，应在一定范围内确定电缆布置，以使用最小 2 范数的张力解决方案来保持电缆悬挂配置。其次，通过张力解的均方根实现了最佳电缆布置。讨论并比较了具有三根或四根电缆的步态康复机器人，以确定滑轮位置方面的尺寸参数。提出了ADAMS软件的仿真模型，并利用电缆模块对电缆驱动系统进行了真实模拟。张力分布是从模拟模型中获得的，用于与计算值进行比较。仿真结果证明了所提出方法的有效性。