Design and Development of Assistive Leg for Lower Limb Rehabilitation

2014 ◽  
Vol 984-985 ◽  
pp. 1235-1244
Author(s):  
C.A. Sribalaji ◽  
S. Abhishek ◽  
S.P. Harisubramanyabalaji ◽  
Anjan Kumar Dash
Keyword(s):  
Lower Limb ◽  
Gait Pattern ◽  
Angle Measurement ◽  
Design And Development ◽  
Normal Gait ◽  
Reflex Action ◽  
Leg Movement ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation ◽  
Walking Aid

The main objective of this paper is to design and develop an assistive leg for the paralyzed patients, which supports them, by changing their paralyzed gait pattern to normal gait pattern. The normal gait pattern is achieved by reflex action. Two angle measurement sensors are mounted in the normal leg and two servo motors are mounted in the paralytic leg-at the hip and ankle. The principle is that as the person takes a step in his normal leg, the sensors detect the amount of leg movement and sent the data to microcontroller. Then the servo motors in the paralytic leg are actuated based on the commands from the microcontroller depending on the type of gait suitable for the person. It is observed in such patients that they follow three kinds of gait. Depending on the amount of normal leg movement the gait pattern is decided and the servo motors rotate to move the paralytic leg. During all these, the person still takes the help from the walking aid.

Gait Analysis and Trajectory Planning for Lower Limb Rehabilitation Training

2014 ◽  
Vol 672-674 ◽  
pp. 1940-1943 ◽  
Author(s):  
Fu Cheng Cao ◽  
Xiao Xue Xing
Keyword(s):  
Trajectory Planning ◽  
Lower Limb ◽  
Gait Rehabilitation ◽  
Normal Walking ◽  
Computer Data ◽  
Walking Gait ◽  
Normal Gait ◽  
Limb Rehabilitation ◽  
Analytical Expressions ◽  
Lower Limb Rehabilitation

In order to achieve lower limb gait rehabilitation of patients, the normal walking gait trajectory was analyzed fully. According to the analysis results, a health hip and knee gait trajectory planning method was presented. The computer data analysis results show that the gait trajectory analytical expressions proposed can represent a normal gait accurately.

Generation of a gait pattern for a lower limb rehabilitation exoskeleton

2020 ◽  
pp. 1-21
Author(s):  
Olga Jarzyna ◽  
Dariusz Grzelczyk ◽  
Bartosz Stańczyk ◽  
Jan Awrejcewicz
Keyword(s):  
Lower Limb ◽  
Gait Pattern ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Design and Analysis of a Lower Limb Rehabilitation Robot

2012 ◽  
Vol 490-495 ◽  
pp. 2236-2240 ◽  
Author(s):  
Xiao Hua Shi ◽  
Hong Bo Wang ◽  
Lin Yuan ◽  
Zhen Xu ◽  
Hong Wei Zhen ◽  
...  
Keyword(s):  
Lower Limb ◽  
Experimental Results ◽  
Rehabilitation Robot ◽  
Absolute Position ◽  
Normal Gait ◽  
Limb Rehabilitation ◽  
Active Training ◽  
Lower Limb Rehabilitation ◽  
Passive Training

The paper present a new lower-limb rehabilitation robot which consists of two mechanical legs with 3 DOF. The length of two mechanical legs and the angle of seat back of the rehabilitation robot can be adjusted over a certain range to fit various patients. The robot can exercise a single joint or multiple joints. It has three training modes: active training, passive training and assist training. In order to evaluate the rehabilitation effect of the robot, all joints were equipped with torque sensors and absolute position encoders. which is very important for the design of the rehabilitation robot. Besides, the rehablitaion traning can combined with sEMG/FES. The robot are installed beside a chair, the patient can sit or lie in the chair, which is more comfortable than standing or suspending. The analysis and experimental results demonstrate that the proposed rehabilitation robot is safe and reliable , the workspace can meets the needs of normal gait.

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.

Integrated design of a lower limb rehabilitation mechanism using differential evolution

2021 ◽  
Vol 92 ◽  
pp. 107103
Author(s):  
José Saúl Muñoz-Reina ◽  
Miguel Gabriel Villarreal-Cervantes ◽  
Leonel Germán Corona-Ramírez
Keyword(s):  
Differential Evolution ◽  
Lower Limb ◽  
Integrated Design ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Lower limb rehabilitation equipment with animation performance for isotonic and isokinetic exercises

2020 ◽  
Author(s):  
Nurul Hasyikin Hasmuni Chew ◽  
Siti Marwangi Mohamad Maharum ◽  
Zuhanis Mansor ◽  
Irfan Abd Rahim
Keyword(s):  
Lower Limb ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation
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