Aiming at the problem of poor flexibility of waist rehabilitation robot in the process of rehabilitation movement, we analyzed the characteristics of waist movement and rehabilitation training, and proposed a rigid-flexible coupling configuration of waist rehabilitation robot with certain flexibility by integrating the theory of sports rehabilitation. The structure of the waist training device is introduced and the role of the waist in the waist training device is analyzed, and the kinematic model of the waist training device is established. The correctness of the kinematic analysis results is verified through simulation, and based on the kinematic simulation results of the lumbar training device, a rigid-flexible coupled lumbar rehabilitation robot test platform is further designed and constructed.
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Liu et al. (2024) studied this question.
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