Study on the Rehabilitation Performance of 2-SPS-RRR Adjustable Hip Exoskeleton

Abstract

Based on computer-aided ergonomics the paper proposes a hip joint rehabilitation exoskeleton utilizing a adjustable spherical parallel mechanism, specifically designed for rehabilitation training of individuals with impaired hip joint movement function. Initially, the screw theory is employed to determine the degrees of freedom of the parallel mechanism, revealing that it possesses three rotational degrees of freedom, enabling sagittal plane movements, frontal plane movements and transverse plane movements at the hip joint. The closed vector method is utilized to derive the inverse position solution, and the velocity Jacobian matrix is solved. Leveraging the inverse position solution and the constraint relationships between mechanisms, the reachable workspace of the mechanism is obtained using MATLAB software programming. Utilizing screw theory and velocity Jacobian matrix, the dexterity of the mechanism is analyzed. Ultimately, a human-robot integrated system is established in AnyBody software to verify its capability to achieve certain rehabilitation effects on human muscle groups. Research demonstrated that the hip joint parallel mechanism exhibits good stability and can effectively assist individuals with hip joint dysfunction in rehabilitation training.