Journal of Mechanical Science and Technology

, Volume 33, Issue 11, pp 5461–5472 | Cite as

Appraise and analysis of dynamical stability of cable-driven lower limb rehabilitation training robot

  • Yan-lin Wang
  • Ke-yi WangEmail author
  • Wan-li Wang
  • Peng-cheng Yin
  • Zhuang Han


This paper presents a problem that traditional methods cannot evaluate the dynamical stability of the under-constraint cable-driven lower limb rehabilitation training robot (CLLRTR). An analytical method is presented to evaluate the dynamical stability of CLLRTR. Firstly, position performance factor, posture performance factor and cable tension performance factor are defined based on the kinematics and dynamics of CLLRTR. An appraisal index and method of the dynamical stability for CLLRTR with the hybrid force-position-pose approach is proposed by using the weighted average method among three performance factors. Secondly, the stable workspace and robustness workspace with the external forces are defined according to the stability margin. Finally, the simulation analysis and the experimental study are used to illustrate the distribution of the dynamical stability in the whole workspace of CLLRTR. The results show that the experimental results are the same as the theoretical simulation analysis results. So the appraisal index of the dynamical stability can be used to evaluate the dynamical stability of CLLRTR. It will provide a foundation for the trajectory planning and control strategy of CLLRTR training pattern.


Rehabilitation training robot Dynamical stability Hybrid force-position-pose approach Stable workspace Robustness workspace 


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This work was supported by the National Natural Science Foundation of China (51405095), Natural Science Foundation of Heilongjiang Province, China (LH2019E032), and Postdoctoral Scientific Research Fund of Heilongjiang (LBHQ15030), Fundamental Research Fund for the Central Universities (3072019CF0704).


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  • Yan-lin Wang
    • 1
  • Ke-yi Wang
    • 1
    Email author
  • Wan-li Wang
    • 1
  • Peng-cheng Yin
    • 1
  • Zhuang Han
    • 1
  1. 1.College of Mechanical and Electrical EngineeringHarbin Engineering UniversityHarbinChina

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