Design and Motion Planning of a Pelvic-Assisted Walking Training Robot

Aiming at the difficulty of pelvic motion control and knee bending during rehabilitation training for patients with limb motor dysfunction, a walking training robot with pelvic motion assistance function was proposed. First, according to the needs of clinical rehabilitation training and the design requirements of rehabilitation robot, the overall structure of a pelvic-assisted walking training robot (PAWTR) with left-right symmetrical arrangement was innovatively designed. The unilateral pelvic-assisted walking unit (PAWU) adopted a single-drive double-exit structure. Secondly, the kinematics model of PAWU was established, and the mechanism parameters were analyzed and determined, which laid the foundation for the robot motion planning. Finally, the robot motion planning methods in the single-leg swing and double-leg swing training modes were proposed, and the influence of different walking cycle durations was studied. The simulation verified that the robot motion planning was feasible and could meet the requirements of walking rehabilitation training.