Design, comprehensive evaluation, and experimental study of a cable-driven parallel robot for lower limb rehabilitation

As the life span increases and the availability of physicians becomes more and more scarce, robotic rehabilitation for post-stroke patients becomes more and more demanding, especially due to the repeatability character of the rehabilitation exercises. Both lower and upper limb rehabilitation using robotic systems have proved to be very successful in different stages of the rehabilitation process, but only a few address the immediate (critical) post-stroke phase, especially when the patient is hemiplegic and is unable to stand. The paper presents the kinematic modelling, singularity analysis and gait simulation for a new 4-DOF parallel robot named RECOVER used for lower limb rehabilitation for bedridden patients. The robotic system has been designed for the mobilization of the lower limb, namely the following motions: the hip and knee flexion and the plantar adduction/abduction and flexion/dorsiflexion. The kinematics has been studied and the singularity configurations have been determined to achieve a failsafe rehabilitation robot. Numerical simulations prove that the system can be used for gait training exercises in safe conditions.

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A Study on an Evaluation Method of a Rehabilitation Robot Based on Fuzzy Comprehensive Evaluation

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.926-930.1144 ◽

2014 ◽

Vol 926-930 ◽

pp. 1144-1147

Author(s):

Lei Chen ◽

Chang Niu Yang ◽

Wen Quan Huang ◽

Ze Gang Sun ◽

Yu Cong Liu

Keyword(s):

Lower Limb ◽

Evaluation Method ◽

Comprehensive Evaluation ◽

Evaluation Model ◽

Fuzzy Comprehensive Evaluation ◽

Actual State ◽

Rehabilitation Robot ◽

Rehabilitation Training ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

To solve the rehabilitation evaluation problem of rehabilitation training, a rehabilitation evaluation method based on fuzzy comprehensive evaluation was presented for 6-DOF wearable lower limb rehabilitation robot. Relative degradation degree was introduced to represent the transformation of the actual state of rehabilitation training and the very poor rehabilitation. On the basis, Rehabilitation evaluation model was built based on fuzzy comprehensive evaluation, each layer of which was evaluated respectively, and suggests rehabilitation evaluation results of a lower limb rehabilitation robot. The instance analysis shows that the method is reasonable and effective.

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Lower Limb Rehabilitation Using Patient Data

Applied Bionics and Biomechanics ◽

10.1155/2016/2653915 ◽

2016 ◽

Vol 2016 ◽

pp. 1-10 ◽

Cited By ~ 7

Author(s):

Alireza Rastegarpanah ◽

Mozafar Saadat

Keyword(s):

Dynamic Analysis ◽

Lower Limb ◽

Parallel Robot ◽

Patient Data ◽

Position Error ◽

Males And Females ◽

Limb Rehabilitation ◽

High Repeatability ◽

Lower Limb Rehabilitation ◽

Foot Trajectory

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

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Application of a parallel robot in lower limb rehabilitation: A brief capability study

2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA) ◽

10.1109/raha.2016.7931865 ◽

2016 ◽

Cited By ~ 3

Author(s):

Alireza Rastegarpanah ◽

Mozafar Saadat ◽

Alberto Borboni ◽

Rustam Stolkin

Keyword(s):

Lower Limb ◽

Parallel Robot ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Development of a Control System and Functional Validation of a Parallel Robot for Lower Limb Rehabilitation

Actuators ◽

10.3390/act10100277 ◽

2021 ◽

Vol 10 (10) ◽

pp. 277

Author(s):

Doina Pisla ◽

Iuliu Nadas ◽

Paul Tucan ◽

Stefan Albert ◽

Giuseppe Carbone ◽

...

Keyword(s):

Control System ◽

Lower Limb ◽

Experimental Tests ◽

Parallel Robot ◽

Robotic System ◽

Kinematic Parameters ◽

Overall Performance ◽

Limb Rehabilitation ◽

And Control ◽

Lower Limb Rehabilitation

This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality. Through a battery of experimental tests, achieved in laboratory conditions using eight healthy subjects, the feasibility and functionality of the proposed robotic system have been validated, and the overall performance of the control system has been studied. The range of motion of each targeted joint has been recorded using a commercially available external sensor system. The kinematic parameters, namely the patient’s joints velocities and accelerations have been recorded and compared to the ones obtained using the virtual model, yielding a very small difference between them, which provides a validation of the RECOVER initial design, both in terms of mechanical construction and control system.

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Modeling And Position Control Of Human Lower Limb Rehabilitation Robot Using Pneumatic Muscle Actuators

10.36541/0231-000-023-009 ◽

2015 ◽

pp. 61

Author(s):

محمد يوسف حسن ◽

شهد صبيح غنتاب

Keyword(s):

Lower Limb ◽

Position Control ◽

Rehabilitation Robot ◽

Pneumatic Muscle ◽

Muscle Actuators ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Recent Advances on Horizontal Lower Limb Rehabilitation Robot

Recent Patents on Mechanical Engineering ◽

10.2174/2212797610666170421165454 ◽

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

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Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

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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