Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies

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.

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Modeling and Control of a Lower-Limb Rehabilitation Robot

Social Robotics - Lecture Notes in Computer Science ◽

10.1007/978-3-642-34103-8_59 ◽

2012 ◽

pp. 581-590 ◽

Cited By ~ 1

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

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Design and Control of a Sitting/Lying Style Lower Limb Rehabilitation Robot with Magnetorheological Actuators

2019 IEEE 9th International Conference on Electronics Information and Emergency Communication (ICEIEC) ◽

10.1109/iceiec.2019.8784695 ◽

2019 ◽

Author(s):

Gaoxin Cheng ◽

Linsen Xu ◽

Shouqi Chen ◽

Li Dong ◽

Hong Xu ◽

...

Keyword(s):

Lower Limb ◽

Rehabilitation Robot ◽

Limb Rehabilitation ◽

And Control ◽

Lower Limb Rehabilitation

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Synthesis and experiment of a lower limb exoskeleton rehabilitation robot

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-10-2016-0255 ◽

2017 ◽

Vol 44 (3) ◽

pp. 264-274 ◽

Cited By ~ 2

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.

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