Kinematics Simulation Analysis of a Kind of Pedal Rehabilitation Robot

2014 ◽  
Vol 602-605 ◽  
pp. 848-852
Author(s):  
Wen Long Wang ◽  
Ji Rong Wang
Keyword(s):  
Lower Limb ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Movement Trajectory ◽  
Three Dimensional Model ◽  
Kinematics Simulation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

This paper describes the design of the gait mechanism of pedal lower limb rehabilitation robot based on people’s heel movement trajectory curve in the normal walking. It is established the kinematics mathematical model of a pedal lower limbs rehabilitation robot and the simplified three-dimensional model with Pro/e software, then it is simulated kinematics using ADAMS software. The simulation result is shown that this pedal lower limbs rehabilitation robot can achieve the expected rehabilitation exercise and run smoothly. Kinematics analysis and simulation of pedal rehabilitation robot is provided the necessary theoretical basis and parameters for the study of lower limb rehabilitation machinery.

scholarly journals Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Jiancheng (Charles) Ji ◽  
Yufeng Wang ◽  
Guoqing Zhang ◽  
Yuanyuan Lin ◽  
Guoxiang Wang
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Gait Cycle ◽  
Simulation Analysis ◽  
The Elderly ◽  
Lower Limbs ◽  
Robot Assisted ◽  
Limb Rehabilitation ◽  
Gait Trainer ◽  
Lower Limb Rehabilitation

In response to the ever-increasing demand of lower limb rehabilitation, this paper presents a novel robot-assisted gait trainer (RGT) to assist the elderly and the pediatric patients with neurological impairments in the lower limb rehabilitation training (LLRT). The RGT provides three active degrees of freedom (DoF) to both legs that are used to implement the gait cycle in such a way that the natural gait is not significantly affected. The robot consists of (i) the partial body weight support (PBWS) system to assist patients in sit-to-stand transfer via the precision linear rail system and (ii) the bipedal end-effector (BE) to control the motions of lower limbs via two mechanical arms. The robot stands out for multiple modes of training and optimized functional design to improve the quality of life for those patients. To analyze the performance of the RGT, the kinematic and static models are established in this paper. After that, the reachable workspace and motion trajectory are analyzed to cover the motion requirements and implement natural gait cycle. The preliminary results demonstrate the usability of the robot.

scholarly journals A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Trinnachoke Eiammanussakul ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Lower Limb ◽  
Stroke Rehabilitation ◽  
Impedance Control ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Sitting Position ◽  
Rehabilitation Robots ◽  
Training Activities ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

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.

scholarly journals The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot

2018 ◽  
Vol 10 (6) ◽  
pp. 168781401877586 ◽  
Author(s):  
Ke-Yi Wang ◽  
Peng-Cheng Yin ◽  
Hai-Peng Yang ◽  
Xiao-Qiang Tang
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Lower Limb ◽  
Simulation Analysis ◽  
External Rotation ◽  
Influence Coefficient ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motion training of lower limb’s flexion and extension. A kind of the lower limb rehabilitation robot is conceived which can achieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed to research the robot’s structure and motion planning. When analyzing the typical movement forms of the lower limb, the relation of man–machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot is conceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method is used to analyze the kinematics of the robot. According to the rehabilitation training of man–machine cooperation relations, the trajectory planning strategy is studied. A robot configuration that meets the needs of rehabilitation motion trajectory planning is drawn by setting the parameters of the robot mechanism and simulation. According to the trajectory of the training program, the simulation analysis of the state of wire movement is carried out. The experimental study of adduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.

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

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.

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