Modeling and Control of a Lower-Limb Rehabilitation Robot

2012 ◽  
pp. 581-590 ◽  
Author(s):  
Yanjiao Ma ◽  
Wei He ◽  
Shuzhi Sam Ge
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Modeling And Control ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

scholarly journals MECHANICAL CHARACTERISTICS ANALYSIS OF A BIONIC MUSCLE CABLE-DRIVEN LOWER LIMB REHABILITATION ROBOT

2020 ◽  
Vol 20 (10) ◽  
pp. 2040037
Author(s):  
YAN-LIN WANG ◽  
KE-YI WANG ◽  
ZI-XING ZHANG ◽  
LIANG-LIANG CHEN ◽  
ZONG-JUN MO
Keyword(s):  
Lower Limb ◽  
Mechanical Characteristics ◽  
Safety Evaluation ◽  
Parallel Robots ◽  
Rehabilitation Robot ◽  
Machine Model ◽  
Characteristics Analysis ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Cable-driven parallel robots (CDPR) have been well used in the rehabilitation field. However, the cables can provide the tension in a single direction, there is a pseudo-drag phenomenon of the cables in the CDPR, which will have a great impact on the safety of patients. Therefore, the novelty of this work is that a bionic muscle cable is used to replace the ordinary cable in the CDPR, which can solve the pseudo-drag phenomenon of the cables in the CDPR and improve the safety performance of the rehabilitation robot. The cable-driven lower limb rehabilitation robot with bionic muscle cables is called as the bionic muscle cable-driven lower limb rehabilitation robot (BMCDLR). The motion planning of the rigid branch chain of the BMCDLR is studied, and the dynamics and system stiffness of the BMCDLR are analyzed based on the man–machine model in this paper. The influence of the parameters of the elastic elements in the bionic muscle cables on the mechanical characteristics of the BMCDLR system was analyzed by using simulation experiments. The research results can provide a reference basis for research on the safety evaluation and control methods of the BMCDLR system.

Synthesis and experiment of a lower limb exoskeleton rehabilitation robot

2017 ◽  
Vol 44 (3) ◽  
pp. 264-274 ◽  
Author(s):  
Jian Li ◽  
Diansheng Chen ◽  
Chunjing Tao ◽  
Hui Li
Keyword(s):  
Lower Limb ◽  
Therapeutic Effects ◽  
Rehabilitation Robot ◽  
Practical Application ◽  
Content Type ◽  
Lower Limb Exoskeleton ◽  
Actual Use ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Purpose Many studies have shown that rehabilitation robots are crucial for lower limb dysfunction, but application of many robotics have yet to be seen to actual use in China. This study aimed to improve a lower limb rehabilitation robot by details improving and practical design. Design/methodology/approach Structures and control system of a lower limb rehabilitation robot are improved in detail, including joint calculations, comfort analysis and feedback logic creation, and prototype experiments on healthy individuals and patients are conducted in a hospital. Findings All participating subjects did not experience any problems. The experiment shows detail improving is reasonable, and feasibility of the robot was confirmed, which has potential for overcoming difficulties and problems in practical application. Research limitations/implications Therapeutic effects need to be evaluated in the future. Also, more details should be improved continuously based on the actual demand. Originality/value The improved robot could assist the lower limb during standing or walking, which has significance for practical application and patients in China.

A Novel Design of Lower Limb Rehabilitation Robot Based on Spring Device and Magnesium Alloy

2012 ◽  
Vol 184-185 ◽  
pp. 707-710
Author(s):  
Jian Li ◽  
Xiu Feng Zhang ◽  
Guo Xin Pan ◽  
Hui Li
Keyword(s):  
Traumatic Brain Injury ◽  
Magnesium Alloy ◽  
Lower Limb ◽  
Material Structure ◽  
Rehabilitation Robot ◽  
Clinical Applicability ◽  
Limb Rehabilitation ◽  
And Control ◽  
Novel Design ◽  
Lower Limb Rehabilitation

A novel design of lower limb rehabilitation robot was developed for lower limb dysfunction, such as stroke, paraplegia, traumatic brain injury and so on. Through analysis of clinical applicability, the design makes some improvements from material, structure, operation means and control system. In this paper, the spring device and magnesium alloy exoskeletons were introduced carefully, which can adapt changes of human gravity centre as walking and lighten the weight of wear. All of above are important for the clinical applicability of the robot.

The design and control of a 3DOF lower limb rehabilitation robot

Mechatronics ◽  
2016 ◽  
Vol 33 ◽  
pp. 13-22 ◽  
Author(s):  
Junpeng Wu ◽  
Jinwu Gao ◽  
Rong Song ◽  
Rihui Li ◽  
Yaning Li ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Development and control of a new sitting-type lower limb rehabilitation robot

2018 ◽  
Vol 67 ◽  
pp. 330-347 ◽  
Author(s):  
J.K. Mohanta ◽  
S. Mohan ◽  
P. Deepasundar ◽  
R. Kiruba-Shankar
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Recent Advances on Horizontal Lower Limb Rehabilitation Robot

2017 ◽  
Vol 10 (2) ◽  
Author(s):  
Jingang Jiang ◽  
Xuefeng Ma ◽  
Biao Huo ◽  
Xiaoyang Yu ◽  
Xiaowei Guo ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Recent Advances ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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