Research on Control and Experiments of the Wire-Driven Waist Rehabilitation Training Parallel Robot Based on a Non-Standard Experimental Model

Abstract

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 outlines the primary structure and operational principles of WRTPR and then analyzes its kinematics and dynamics. Furthermore, a carefully designed visual human–machine interaction interface is implemented, 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, with 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 (nonstandard 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.