Design and analysis of movable cable-driven lower limb rehabilitation robot

被引：0
|
作者：
Zou Y. [1 ]
Wang N. [1 ]
Liu K. [1 ]
Geng X. [1 ]
机构：
[1] College of Mechanical and Electronic Engineering, China University of Petroleum, Qingdao, 266580, Shandong
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2019年 / 47卷 / 01期
关键词：
Cable-drive; Configuration optimization; Kinematic analysis; Lower limb rehabilitation; Workspace;
D O I：
10.13245/j.hust.190105
中图分类号：
学科分类号：
摘要：
In order to help patients with lower limb dysfunction, a movable cable-driven lower limb rehabilitation robot was designed to restore their motor function.Through controlling the posture and force of the lower limb, the robot could assist patients in different rehabilitation stages to carry out task oriented rehabilitation training with passive, assistant and active mode.The kinematics modeling, statics modeling and workspace analysis were worked out.Further, the robot configurations were analyzed and optimized.Accuracy of the kinematic model was verified through simulation.The continuous cable tension was obtained based on the 2-norm of the cable tension optimization algorithm. © 2019, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
引用
收藏
页码：22 / 26and38
页数：2616
相关论文
共 13 条
  • [1] Martinez-Velilla N., Cadore E.L., Casas-Herrero A., Et al., Physical activity and early rehabilitation in hospitalized elderly medical patients: systematic review of randomized clinical trials, The Journal of Nutrition, Health & Aging, 20, 7, pp. 738-751, (2016)
  • [2] Clark D.J., Automaticity of walking: functional significance, mechanisms, measurement and rehabilitation strategies, Frontiers in Human Neuroscience, 9, pp. 246-254, (2015)
  • [3] Meng W., Liu Q., Zhou Z., Et al., Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation, Mechatronics, 31, pp. 132-145, (2015)
  • [4] Louie D.R., Eng J.J., Powered robotic exoskeletons in post-stroke rehabilitation of gait: a scoping review, Journal of Neuroengineering and Rehabilitation, 13, 1, pp. 53-58, (2016)
  • [5] Riener R., Lunenburger L., Maier I.C., Et al., Locomotor training in subjects with sensori-motor deficits: an overview of the robotic gait orthosis lokomat, Journal of Healthcare Engineering, 1, 2, pp. 197-216, (2010)
  • [6] Sankai Y., HAL: Hybrid Assistive Limb Based on Cybernics Robotics Research, (2011)
  • [7] Raab K., Krakow K., Tripp F., Et al., Effects of training with the ReWalk exoskeleton on quality of life in incomplete spinal cord injury: a single case study, Spinal Cord Series and Cases, 2, pp. 1-3, (2016)
  • [8] Hesse S., Waldner A., Tomelleri C., Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients, Journal of Neuro Engineering and Rehabilitation, 7, pp. 30-40, (2010)
  • [9] Yoon J., Park J.R.J., Walking analysis of a dual-track treadmill using a foot-platform locomotion interface, International Conference on Rehabilitation Robotics, pp. 851-856, (2009)
  • [10] Burnfield J.M., Taylor A.P., Buster T.W., Et al., Use of intelligently controlled assistive rehabilitation elliptical trainer to improve walking and fitness during acute stroke rehabilitation, Stroke, 42, 3, pp. 326-332, (2011)
12