Kinematics analysis and gait planning for a hemiplegic exoskeleton robot

Cobot ◽  
2022 ◽  
Vol 1 ◽  
pp. 1
Author(s):  
Pengbo Li ◽  
Can Wang ◽  
Bailin He ◽  
Jiaqing Liu ◽  
Xinyu Wu
Keyword(s):  
Teaching Method ◽  
Mechanical Design ◽  
Training System ◽  
Advanced Technology ◽  
Kinematics Analysis ◽  
Gait Planning ◽  
Rehabilitation Training ◽  
Movement Data ◽  
Exoskeleton Robot ◽  
Calculation Results

Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.

scholarly journals Real-Time Evaluation of the Signal Processing of sEMG Used in Limb Exoskeleton Rehabilitation System

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Baofeng Gao ◽  
Chao Wei ◽  
Hongdao Ma ◽  
Shu Yang ◽  
Xu Ma ◽  
...  
Keyword(s):  
Signal Processing ◽  
Real Time ◽  
Training System ◽  
Human Anatomy ◽  
Semg Signal ◽  
Average Delay ◽  
Rehabilitation Training ◽  
Upper Limb Exoskeleton ◽  
Emg Signal ◽  
Exoskeleton Robot

As an important branch of medical robotics, a rehabilitation training robot for the hemiplegic upper limbs is a research hotspot of rehabilitation training. Based on the motion relearning program, rehabilitation technology, human anatomy, mechanics, computer science, robotics, and other fields of technology are covered. Based on an sEMG real-time training system for rehabilitation, the exoskeleton robot still has some problems that need to be solved in this field. Most of the existing rehabilitation exoskeleton robotic systems are heavy, and it is difficult to ensure the accuracy and real-time performance of sEMG signals. In this paper, we design a real-time training system for the upper limb exoskeleton robot based on the EMG signal. It has four main characteristics: light weight, portability, high precision, and low delay. This work includes the structure of the rehabilitation robotic system and the method of signal processing of the sEMG. An experiment on the accuracy and time delay of the sEMG signal processing has been done. In the experimental results, the recognition accuracy of the sEMG is 94%, and the average delay time is 300 ms, which meets the accuracy and real-time requirements.

Development of a Last Stage Blade Row Coupled by Damping Elements: Numerical Assessment of its Vibrational Behavior and its Experimental Validation During Spin Pit Measurements

2017 ◽  
Author(s):  
Christian Siewert ◽  
Frank Sieverding ◽  
William J. McDonald ◽  
Manish Kumar ◽  
James R. McCracken
Keyword(s):  
Structural Integrity ◽  
Mechanical Design ◽  
Vibration Response ◽  
Dynamic Loads ◽  
Steam Turbines ◽  
Response Level ◽  
Vibrational Behavior ◽  
Blade Row ◽  
Calculation Results ◽  
Last Stage

Last stage blade rows of modern low pressure steam turbines are subjected to high static and dynamic loads. The static loads are primarily caused by the centrifugal forces due to the steam turbine’s rotational speed. Dynamic loads can be caused by instationary steam forces, for example. A primary goal in the design of modern and robust blade rows is to prevent High Cycle Fatigue caused by dynamic loads due to synchronous or non-synchronous excitation mechanisms. Therefore, it is important for the mechanical design process to predict the blade row’s vibration response. The vibration response level of a blade row can be limited by means of a damping element coupling concept. Damping elements are loosely assembled into pockets attached to the airfoils. The improvement in the blade row’s structural integrity is the key aspect in the use of a damping element blade coupling concept. In this paper, the vibrational behavior of a last stage blade row with damping elements is analyzed numerically. The calculation results are compared to results obtained from spin pit measurements for this last stage blade row coupled by damping elements.

scholarly journals A CONCEPTUAL DESIGN FOR RECONFIGURABLE ROBOTS

2011 ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Conceptual Design ◽  
Mechanical Design ◽  
Twist Angle ◽  
Kinematic Chain ◽  
Control Synthesis ◽  
Kinematics Analysis ◽  
New Paradigm ◽  
Passive Joint ◽  
Reconfigurable Robots

The paper presents a new paradigm and conceptual design for reconfigurable robots. Unlike conventional reconfigurable robots, our design doesn't achieve reconfigurability by utilizing modular joints. But the robot is equipped with passive joints, i.e. joints with no actuator or sensor, which permit changing the Denavit-Hartenberg (DV) parameters such as the arm length, and the twist angle. The passive joints are controllable when the robot forms a closed kinematic chain. Also each passive joint is equipped with a built-in brake mechanism which is normally locked but it can be released whenever changing of the parameters is required. Kinematics analysis of such a robot plus control synthesis and mechanical design of the brake mechanism are described.

scholarly journals Clinical Effect of Virtual Reality Technology on Rehabilitation Training of Sports Injury

2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Jing Chen
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Sports Injury ◽  
Training System ◽  
Average Score ◽  
Virtual Reality Technology ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Rehabilitation System ◽  
Limb Rehabilitation

In order to make most patients recover most of their limb functions after rehabilitation training, virtual reality technology is an emerging human-computer interaction technology, which uses the computer and the corresponding application software to build the virtual reality environment. Completing the training tasks in the virtual environment attracts the patients to conduct repeated training in the game and task-based training mode and gradually realizes the rehabilitation training goals. For the rehabilitation population with certain exercise ability, the kinematics of human upper limbs is mainly analyzed, and the virtual reality system based on HTC VIVE is developed. The feasibility and work efficiency of the upper limb rehabilitation training system were verified by experiments. Adult volunteers who are healthy and need rehabilitation training to participate in the experiment were recruited, and experimental data were recorded. The virtual reality upper limb rehabilitation system was a questionnaire. By extracting the motion data, the system application effect is analyzed and evaluated by the simulation diagram. Follow-up results of rehabilitation training showed that the average score of healthy subjects was more than 4 points and 3.8 points per question. Therefore, it is feasible to perform upper limb rehabilitation training using the HTC VIVE virtual reality rehabilitation system.

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