Research on control and experiments of the wire-driven waist rehabilitation training parallel robot based on a non-standard experimental model

Abstract This paper introduces a wire-driven waist rehabilitation training parallel robot (WRTPR) and a computer-controlled upper motion system based on human-machine interaction to enhance rehabilitation training for patients with waist disorders. Specifically, this study first details the primary structure and operation principles of WRTPR, and then the kinematics and dynamics of the WRTPR system are anatomized. Furthermore, a visual human-machine interaction interface is carefully designed, and a dual closed-loop force/position hybrid control strategy premised on human-machine interaction is proposed. A motion control experiment is conducted through numerical simulation using the fabricated WRTPR prototype on the flexion-extension movement as an illustrative case. Comparing simulation and prototype experiment results reveals that the wire length and tension data from simulation are consistent with those from the prototype experiment, and the actual motion trajectory of the scaled model (non-standard model) is predominantly coincident with the prescriptive motion trajectory. These experiments prove that the designed WRTPR system is proficient in safely and effectively simulating waist rehabilitation training, laying the theoretical and practical foundation for optimizing the WRTPR prototype platform.