The article discusses the design of a suspended lever mechanism with elastic elements, which is used as a safety device in a robotic system for the rehabilitation of the lower limbs. The article analyzes the existing mechanical structures of devices for rehabilitation, identifies the problems of operation, design, and safety systems and suggests a new design of the device. The process of reverse development of a lever mechanism scheme to ensure safety during rehabilitation of the lower limbs is presented. The design of the lever mechanism consists of movable levers connected by elastic elements. The device allows you to dampen the force during active rehabilitation. The power calculation of the lever mechanism in the rehabilitation system was carried out. The article addresses the issues present in the current mechanical designs with a brief discussion on the system architecture.

"Design of a Suspension Lever Mechanism in Biomedical Robotic System"

Researching on the structural spectrum synthesis method of the open kinematic chain

The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the "tripteron" robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient's leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.

L G Virabyan

Papers

Design of mechanisms of a robotic system for rehabilitation of the lower limbs