Geometric Parameters and Workspace Optimization of Sitting-Type Lower Limb Rehabilitation Robot

Abstract

A lower limb rehabilitation system based on a serial RRR manipulator and an active parallel 2PRP-2PPR manipulator is considered, effective numerical methods and algorithms are developed and tested that allow determining the optimal geometric parameters of the active manipulator mechanism that provides the required movements within the workspace. The influence of the range of rotation angles of the joints, which must be ensured during the rehabilitation process on the minimum overall dimensions of the 2PRP-2PPR manipulator, is analyzed.