OPTIMIZATION ANALYSIS OF THE STRUCTURAL DESIGN AND STABILITY PARAMETERS OF A REHABILITATION ROBOT

In this p aper, a lower limb rehabilitation robot, suitable for stroke patients, is designed to meet the needs of the lower limb training in a later stage of rehabilitation. The rehabilitation robot is composed of a gantry structure, a driving system, a weight support system, and a human-computer inter action system. Such a robot can assist the patients to stand and walk on the ground. Bec ause of the we akness of the lower limbs on the affected side, stroke patients find it difficult to maintain their own body bal ance. The patients may fall due to a ch ange in body posture c aused by insufficient body function. Therefore, it is necess ary to evaluate the stability of the rehabilitation robot after being imp acted by the p atient's fall during use. This p aper presents a method for the analysis of robot stability and develops an approximate mathem atic al model of the rehabilitation robot stability based on the response surface method. Optimal structural design parameters for the rehabilitation robot under imp act are determined based on the response surface mathem atic al model. Finally, a stability experiment of the rehabilitation robot under the optimal structural parameters is performed. The experimental results demonstrate that the universal wheel maintains a close force cont act with the ground, which proves the reli able stability of the robot.