scholarly journals Development and Evaluation of a Rehabilitation Wheelchair with Multiposture Transformation and Smart Control

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Wujing Cao ◽  
Hongliu Yu ◽  
Xinyu Wu ◽  
Sujiao Li ◽  
Qiaoling Meng ◽  
...  
Keyword(s):  
Control System ◽  
Lower Limb ◽  
Gait Training ◽  
Practical Significance ◽  
Test Results ◽  
Multiple Control ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
The Voice ◽  
Lower Limb Rehabilitation

Stroke and other neurological disorders have an effect on mobility which has a significant impact on independence and quality of life. The core rehabilitation requirements for patients with lower limb motor dysfunction are gait training, restand, and mobility. In this work, we introduce a newly developed multifunctional wheelchair that we call “ReChair” and evaluated its performance preliminarily. ReChair seamlessly integrates the mobility, gait training, and multiposture transformation. ReChair driving and multiposture transformation are done using the voice, button, and mobile terminal control. This work describes the functional requirements, mechanical structure, and control system and the overall evaluation of ReChair including the kinematic simulation of the multiposture transformation and passive lower limb rehabilitation training to quantitatively verify the motion capability of ReChair, the voice control system evaluation that shows how the voice recognition system is suitable for home environment, the sensorless speed detection test results that indicate how the wheel speeds measured by sensorless method are appropriate for travelling control, and the passive and balance training test results that show how the lower limb rehabilitation training in daily life by ReChair is convenient. Finally, the experimental results show that ReChair meets the patients’ requirements and has practical significance. It is cost-effective, easy to use, and supports multiple control modes to adapt to different rehabilitation phases.

scholarly journals A Construction Method of Lower Limb Rehabilitation Robot with Remote Control System

2021 ◽  
Vol 11 (2) ◽  
pp. 867
Author(s):  
Mingda Miao ◽  
Xueshan Gao ◽  
Wei Zhu
Keyword(s):  
Control System ◽  
Remote Control ◽  
Lower Limb ◽  
Human Motion ◽  
Practical Training ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

In response to the rehabilitation needs of stroke patients who are unable to benefit from conventional rehabilitation due to the COVID-19 epidemic, this paper designs a robot that combines on-site and telerehabilitation. The objective is to assist the patient in walking. We design the electromechanical system with a gantry mechanism, body-weight support system, information feedback system, and man-machine interactive control system. The proposed rehabilitation robot remote system is based on the client/server (C/S) network framework to realize the remote control of the robot state logic and the transmission of patient training data. Based on the proposed system, doctors can set or adjust the training modes and control the parameters of the robot and guide remote patient rehabilitation training through video communication. The robotic system can further store and manage the rehabilitation data of the patient during training. Experiments show the human-computer interaction system of the lower limb rehabilitation robot has good performance, can accurately recognize the information of human motion posture, and achieve the goal of actively the following motion. Experiments confirm the feasibility of the proposed design, the information management of stroke patients, and the efficiency of rehabilitation training. The proposed system can reduce the workload of the doctors in practical training.

Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation

2018 ◽  
Author(s):  
Bogdan Gherman ◽  
Iosif Birlescu ◽  
Paul Tucan ◽  
Calin Vaida ◽  
Adrian Pisla ◽  
...  
Keyword(s):  
Lower Limb ◽  
Parallel Robot ◽  
Gait Training ◽  
Singularity Analysis ◽  
Robotic System ◽  
Upper Limb Rehabilitation ◽  
Post Stroke ◽  
Kinematic Modelling ◽  
Limb Rehabilitation ◽  
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.

LOWER LIMB REHABILITATION ROBOT FOR GAIT TRAINING

2014 ◽  
Vol 14 (06) ◽  
pp. 1440004 ◽  
Author(s):  
SHUAI GUO ◽  
JIANCHENG JI ◽  
GUANGWEI MA ◽  
TAO SONG ◽  
JING WANG
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Balance Training ◽  
Gait Training ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Motion Characteristics ◽  
Set Up ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

After analyzing the rehabilitation needs of stroke patients and the previous studies on lower limb rehabilitation robot, our lower limb rehabilitation robot is designed for stroke patients' gait and balance training. The robot consists of the mobile chassis, the support column and the pelvis mechanism and it is described in detail. As the pelvis mechanism allows most of the patient's motion degrees of freedom (DOFs), the kinematics model of the mechanism is set up, and kinematics simulation is carried out to study the motion characteristics of the mechanism. After analyzing the calculation and simulation results, the pelvis mechanism is proven to measure up to the movement needs of the paralytic's waist and pelvis in walking rehabilitation process.

Design, Synthesis and Experiment of Foot-driven Lower Limb Rehabilitation Mechanisms

2021 ◽  
pp. 1-44
Author(s):  
Chennan Yu ◽  
Jun Ye ◽  
Jiangming Jia ◽  
Xiong Zhao ◽  
Zhiwei Chen ◽  
...  
Keyword(s):  
Ankle Joint ◽  
Lower Limb ◽  
Gear Train ◽  
Home Healthcare ◽  
Dimensional Synthesis ◽  
Linkage Mechanism ◽  
Open Chain ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Abstract A foot-driven rehabilitation mechanism is suitable for home healthcare due to its advantages of simplicity, effectiveness, small size, and low price. However, most of the existing studies on lower limb rehabilitation movement only consider the trajectory of the ankle joint and ignore the influence of its posture angle, which makes it difficult to ensure the rotation requirements of the ankle joint and achieve a better rehabilitation effect. Aiming at the shortcomings of the current research, this paper proposes a new single degree-of-freedom (DOF) configuration that uses a noncircular gear train to constrain the three revolute joints (3R) open-chain linkage and expounds its dimensional synthesis method. Then, a parameter optimization model of the mechanism is established, and the genetic algorithm is used to optimize the mechanism parameters. According to the eight groups of key poses and position points of the ankle joint and the toe, the different configurations of the rehabilitation mechanism are synthesized and compared, and it is concluded that the newly proposed 3R open-chain noncircular gear-linkage mechanism exhibits better performance. Finally, combined with the requirements of rehabilitation training, a lower limb rehabilitation training device is designed based on this new configuration, and a prototype is developed and tested. The test results show that the device can meet the requirements of the key position points and posture angles of the ankle joint and the toe and verify the correctness of the proposed dimensional synthesis and optimization methods.

Appraise and analysis of dynamical stability of cable-driven lower limb rehabilitation training robot

2019 ◽  
Vol 33 (11) ◽  
pp. 5461-5472 ◽  
Author(s):  
Yan-lin Wang ◽  
Ke-yi Wang ◽  
Wan-li Wang ◽  
Peng-cheng Yin ◽  
Zhuang Han
Keyword(s):  
Lower Limb ◽  
Dynamical Stability ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

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

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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