Research on the configuration of a balanced disability rehabilitation robot based on redundant degrees of freedom

A new configuration of a 9-degree-of-freedom (DOF) robot has been designed to address the prevalence of balance disorders in patients and the increasing demand for exercise rehabilitation training. This lower-limb end rehabilitation robot can assist patients with repetitive movements to stimulate and rebuild their nervous system and improve their pelvic and muscle motion control abilities. Starting from functional requirements, multiple robot configuration design schemes are proposed, and various performance indicators are comprehensively considered to ultimately select and optimize a 9-DOF redundant series-parallel hybrid robot and complete its kinematic analysis and derivation. This robot consists of a 6-DOF vestibular parallel device and a 3-DOF proprioceptive parallel device in series, which are modular in structure and function while retaining the advantages of the strong load-bearing capacity of series robots and the large workspace of parallel robots. A new structural form is proposed for investigating lower-limb rehabilitation robots.