A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot

To slow down the occurrence of diseases such as gait and balance disorders that occur with age, this paper proposes a new ten-degree-of-freedom rehabilitation training robot (SHG Robot) based on a series-parallel hybrid configuration, which can achieve three-dimensional gait training and more natural simulation of daily walking. This paper mainly proposes the configuration of the rehabilitation training robot based on the design criteria of human body characteristics and the range of motion of each joint; and analyzes the kinematics and dynamics of the three-degree-of-freedom parallel structure. The structure effectively reduces the height of the pedal, relieves the patient's fear, and has the advantages of compact structure and the like.