The force analysis of a pelvic support walking robot with joint compliance is discussed in this paper. During gait training, pelvic\nmotions of hemiplegic patients may be excessively large or out of control; however, restriction of pelvic motions is not likely to\nfacilitate successful rehabilitation. A robot-assisted pelvic balance trainer (RAPBT) is proposed to help patients control the range\nof motion via force field, and force analysis is necessary for the control of the compliant joints. Thus, kinematic model and static\nmodel are developed to derive the Jacobian and the relation between the interaction forces and the pelvic movements, respectively.\nSince the joint compliance is realized through a nontorsional spring, a conventional (linear) Jacobian method and a piecewise\nlinear method are derived to relate the interaction forces with the pelvis movements. Three preliminary experiments are carried\nout to evaluate the effectiveness of the proposed methods and the feasibility of the RAPBT. Theexperiment results indicate that the\npiecewise linear method is effective in the calculation of the interaction forces. Gait with pelvic brace strongly resembles free\noverground walking and partly decreases motion range via force field. The findings of this research demonstrate that the pelvic\nbrace with joint compliance may provide effective interventions.
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