Kinematics Analysis of the Wearable Waist Rehabilitation Robot.

Patients with lumbar injuries are becoming more common and there is a shortage of intelligent rehabilitation equipment. A wearable lumbar rehabilitation robot for the treatment of low back pain disease is designed to help patients recover their lumbar motion. Firstly, the motion characteristics of the human lumbar spine and its range of motion is determined, and based on the size and range of motion of the human lumbar spine, the configuration design of the lumbar rehabilitation robot is proposed, and a 2-PUU/2-PUS parallel mechanism with three rotations and one translation is proposed; then the degree of freedom(DoF) analysis is carried out based on the screw theory; Finally, the kinematic inverse solution analysis is performed based on the Euler transformation and the geometrical characteristics of this parallel mechanism respectively, and validated based on the established virtual prototype model, and the results show that the mechanism motion characteristics meet the requirements of lumbar rehabilitation.