Abstract：The method to build the bio-electromechanical model of wearable assistant bone-setting parallel robot system is studied.Firstly,the finite element model of human leg structure is established and the map from the relative pose of the broken bones to the force maintaining the relative pose unchanged is obtained.Then the static model of the parallel robot is established and the map from the load of the platform to the driving force of the branched chains maintaining the relative pose of the two platforms of the parallel robot unchanged is also obtained.The finite element model of human leg and the statics model of the robot are integrated,the appropriate coordinate transformation is made,and the bio-electromechanical model is built.Finally,simulation curves are obtained through simulation experiment,and the corresponding analysis is given.
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