Smooth Trajectory Planning for a Cable Driven Parallel Waist Rehabilitation Robot Based on Rehabilitation Evaluation Factors

Abstract Rehabilitation robots can help physiatrists to assist patients in improving their movement ability. Due the interaction between rehabilitation and patients, need complete training on a safe basis. This paper presents an approach for smooth trajectory planning cable-driven parallel waist robot (CDPWRR) based evaluation factors. First, motion capture technology is used collect data of several volunteers twisting. Considering impact variability, feature points at center human pelvis are obtained after eliminating unreasonable through rationality judgments. Then, point-to-point quintic polynomial cycloid functions, multipoint B-spline functions carried out. The corresponding planned curves kinematics characteristics using three methods compared analyzed. Subsequently, factors introduced conduct training, with better compliance safety feasibility motion. Finally, physical prototype CDPWRR built, effectiveness proposed method proved by numerical analysis experiments.