This invention discloses a six-degree-of-freedom parallel
lumbar exoskeleton with
human body parameter adaptive function and a kinematic initialization method. The
exoskeleton uses linear actuators in both
assembly and disassembly configurations: in the
assembly configuration, one end of the
linear actuator is connected to the lower platform and the other end to the upper platform, with the lower platform used to fix to a first target plane and the upper platform used to fix to a second target plane; in the disassembly configuration, the lower platform is used to fix to the first target plane and the upper platform is used to fix to the second target plane; both the lower and upper platforms are composed of two semi-rings; in the
assembly configuration, the linear actuators adopt a heterogeneous
layout, using two linear actuators with different initial lengths to shift the
workspace of the mechanism towards the front of the
human body, thereby obtaining a larger range of forward flexion; in the disassembly configuration, it can be used to obtain the desired
rehabilitation trajectory; furthermore, after the
exoskeleton is strapped in, the method provides a kinematic control model by measuring the physical gap variable between the moving and fixed platforms, reflecting individual
body shape differences, and reconstructing it, thereby obtaining the corrected actual coordinates of the hinge points, thus ensuring, to a certain extent, accurate matching between the exoskeleton's motion center and the user's actual motion center.