A Sensor Used to Detect the Thigh Human-Machine Coupling Force in Lower Limb Rehabilitation Robot

2013 ◽  
Vol 310 ◽  
pp. 444-447 ◽  
Author(s):  
Yue Wen Li ◽  
Lin Yong Shen
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Active Force ◽  
Actual Usage ◽  
Coupling Force ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Relationship Of ◽  
The Relationship ◽  
Lower Limb Rehabilitation

The acquisition of the patients’ active force is the key process to realize the active rehabilitation function of lower limb rehabilitation robot. This paper analyzes the relationship of human-machine coupling force and patients’ active force, based on what put forward a proposal to acquire the active force .A sensor is designed to detect the human-machine coupling force and a stress analysis is carried on based on the actual usage of the sensor. The scheme of the stress foil arrangement and bridge circuit design are discussed in the paper. And a FEA is also carried out to analyze the strain situation of the elastomer.

scholarly journals New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3439 ◽  
Author(s):  
Yongfei Feng ◽  
Hongbo Wang ◽  
Luige Vladareanu ◽  
Zheming Chen ◽  
Di Jin
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Active Force ◽  
Rehabilitation Training ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Static Torque ◽  
Lower Limb Rehabilitation ◽  
Acquisition Method ◽  
Motion Intention

The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the rehabilitation process, a new motion intention acquisition method based on static torque sensors is proposed. This motion intention acquisition method is established through the dynamics modeling of human–machine coordination, which is built on the basis of Lagrangian equations. Combined with the static torque sensors installed on the mechanism leg joint axis, the LLR-Ro can obtain the active force from the patient’s leg. Based on the variation of the patient’s active force and the kinematic functional relationship of the patient’s leg end point, the patient motion intention is obtained and used in the proposed active rehabilitation training method. The simulation experiment demonstrates the correctness of mechanism leg dynamics equations through ADAMS software and MATLAB software. The calibration experiment of the joint torque sensors’ combining limit range filter with an average value filter provides the hardware support for active rehabilitation training. The consecutive variation of the torque sensors from just the mechanism leg weight, as well as both the mechanism leg and the patient leg weights, obtains the feasibility of lower limb motion intention acquisition.

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.

scholarly journals Modeling Analysis and Structural Design of Human Lower Limb Rehabilitation Robot

2018 ◽  
Vol 232 ◽  
pp. 02032
Author(s):  
Zhiming Wang ◽  
Lizhen Cui ◽  
Zhenglong Cai ◽  
Changfu Pang
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Rapid Development ◽  
Lower Limbs ◽  
Joint Torque ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Limb Rehabilitation ◽  
The Relationship ◽  
Lower Limb Rehabilitation

With the rapid development of science and technology, robots are widely used in rehabilitation training. According to the physiological structure of human lower limbs and gait characteristics of walking, a lower limb rehabilitation robot is designed in this paper. We design the structure in a form of exoskeleton with three degrees of freedom in which kinematics analysis is carried out by the D-H coordinate transformation method. And then we obtain the relationship between the end effector and the angle of each joint. In addition, the relationship between end effector speed and joint speed is obtained through Jacobian matrix and Lagrange equilibrium method is used for dynamic analysis. The joint torque is calculated through the joint speed and three dimensional modeling of lower limb rehabilitation robot was reconstructed by Pro-e. Finally, the driving mode is selected and calculated.

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

sEMG-based impedance control for lower-limb rehabilitation robot

2017 ◽  
Vol 11 (1) ◽  
pp. 97-108 ◽  
Author(s):  
Vahab Khoshdel ◽  
Alireza Akbarzadeh ◽  
Nadia Naghavi ◽  
Ali Sharifnezhad ◽  
Mahdi Souzanchi-Kashani
Keyword(s):  
Lower Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation
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