Abstract

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Title:: Kinematics modeling and analysis of prone spine rehabilitation training instrument

Author(s):: Kinematics modeling and analysis of prone spine rehabilitation training instrument; School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Keywords:: Keywords: spine rehabilitation training instrument; Denavit-Hartenberg method; crawling training; kinematics modeling; Matlab simulation

Abstract:: Abstract: In order to solve the problems of simple function, complex structure and unreasonable training mode of the existing spine rehabilitation training equipment, a novel intelligent spine rehabilitation training instrument realized by modeling human crawling movements is designed in the study. The kinematics modeling of the crawling training instrument is carried out by Denavit-Hartenberg method, and its forward and inverse kinematics equations are obtained. The kinematics simulation experiment is carried out under the preset rehabilitation trajectory using MATLAB modeling software to verify the kinematics solutions. The experimental results show that the spine rehabilitation training instrument can move according to the requirements of crawling training under the predetermined trajectory, which verifies the rationality of the structural design of the spine rehabilitation training instrument. Meanwhile, the angular error of each joint calculated by the inverse kinematics equation from the position information of the mechanical handle is no more than 3°, which verifies the validity of the obtained kinematic equations.