Abstract
Safety is a crucial performance indicator for rehabilitation medical equipment; this article proposes a safety evaluation method for a parallel cable-driven upper limb rehabilitation robot (PCUR), wherein the safety of rehabilitation training is monitored in real time through the establishment of a safety performance factor. The stability factor is determined by the position of the moving platform's (MP) center point, cable tension, and system stiffness, while the speed factor is defined by the movement speed of the patient's upper limb. The safety performance factor is calculated as the product of the stability factor and the speed factor. A simulation analysis of PCUR safety evaluation is conducted and the validity of the proposed method is verified through motion control experiments.
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