MECHATRONIC SYSTEM FOR LOWER LIMB REHABILITATION

被引：0
|
作者：
Abdullah A.S. [1 ,2 ]
Grǎmescu B. [1 ]
Cartal A. [1 ]
Niţu C. [1 ]
机构：
[1] University POLITEHNICA of Bucharest, Dept.of Mechatronics and Precision Mechanics, 313, Splaiul Independenţei, Bucharest
[2] Middle Technical University, Institute of Medical Technology, Baghdad
来源：
International Journal of Mechatronics and Applied Mechanics | 2022年 / 12卷
关键词：
20-sim; Exoskeleton; Lower limb rehabilitation; Series elastic actuator; Smart servo;
D O I：
10.17683/ijomam/issue12.19
中图分类号：
学科分类号：
摘要：
The paper deals with the development of a partial exoskeleton for lower limb rehabilitation. It consists of two arms, corresponding to the thigh and calf of the patient, and two joints actuated by smart servos with series elasticity. An inverse dynamic model for gait assistance is used to prove the servos capability to provide the model required torques and a trajectory for the knee rehabilitation exercise and the device control are modeled in 20sim environment, while output position of the body segments is measured by tilt sensors and displayed. © 2022, Cefin Publishing House. All rights reserved.
引用
收藏
页码：126 / 133
页数：7
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