Optimization of robotic system parameters for rehabilitation based on experimental data.

The article deals with the problem of rehabilitation of patients with impaired motor function using robotic systems for rehabilitation. Several systems for lower limb rehabilitation based on parallel structure mechanisms are considered. A number of disadvantages for some mechanisms are revealed. A synthesized hybrid parallel-serial structure mechanism for lower limb rehabilitation was considered. Optimization of parameters with the use of the developed program in C++ language was carried out. As a result of optimization of the active mechanism parameters, a set of Pareto optimal solutions for the parameters corresponding to five different configurations of the active mechanism dimensions was obtained. In the course of simulation modeling, the calculated characteristics of the mechanism have been verified. The results of mathematical and simulation modeling made it possible to reveal a number of inaccuracies at the stage of design and fabrication of the hybrid mechanism prototype, related to the intersection of links and mutual arrangement of mechanisms, which allowed to make timely changes in the appropriate attachment nodes and joints. An experimental sample of a hybrid mechanism for lower limb rehabilitation was developed for practicing various rehabilitation procedures in medicine and conducting effective mechanotherapy. [ABSTRACT FROM AUTHOR]