A User-Driven Design Framework for Coupled-Serial-Chain Mechanism Synthesis for Assisting Sit-to-Stand Motion

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Liuxian Zhu ◽  
Hao Lv ◽  
Li Li ◽  
Xiaofei Xu
Keyword(s):  
Rehabilitation Robot ◽  
Design Framework ◽  
Chain Mechanism ◽  
Mechanism Synthesis ◽  
Sit To Stand ◽  
Serial Chain ◽  
Assistive Robot ◽  
Physical Prototype ◽  
Natural Movement ◽  
Human Joints

Abstract This paper presents a novel coupled-serial-chain (CSC) mechanism based multifunctional rehabilitation robot to assist the patients with lower-limb disability in their sit-to-stand (STS) movement. The CSC mechanism is constructed by coupling the joint rotations of a multilink serial chain with gears and operates by following the natural movement of human joints and limbs during the STS motion. The goal is to design an ergonomic and lightweight assistive robot with CSC mechanism that helps minimize the patient's joint/muscle strength and requires the least number of external actuators. A user-driven design framework is proposed to synthesize the CSC mechanism with type and dimensions personalized to the hip trajectory of an individual user. An example CSC mechanism is generated and verified by virtual prototyping and simulation. A physical prototype of the mechanism is built, which will be tested on the human subject to evaluate its maneuverability and physical compatibility with the subject's STS movement.

Design and Virtual Prototyping of Rehabilitation Aids

1997 ◽  
Author(s):  
Venkat Krovi ◽  
Vijay Kumar ◽  
G. K. Ananthasuresh ◽  
Jean-Marc Vezien
Keyword(s):  
Virtual Prototyping ◽  
Assistive Devices ◽  
Cad Model ◽  
Mechanism Synthesis ◽  
Design And Optimization ◽  
Revolute Joints ◽  
Synthesis Design ◽  
Serial Chain

Abstract This paper presents a paradigm for virtual prototyping of a class of one-of-a-kind assistive devices that can be customized to the human user. This class consists of passive, articulated mechanical aids for manipulation that are physically coupled to the user. We address the mechanism synthesis, design and optimization and its evaluation in a virtual prototyping environment that consists of a CAD model of the product and a customized model of the human user. In addition, we develop the theory and methodology for designing planar serial chain mechanisms with revolute joints coupled by cable-pulley transmissions. As an illustrative example, we consider the design and prototyping of a customized feeding aid for quadriplegics.

Research on the Rehabilitation Robot Control Methods for Analysis of Lower Limb Kinetics during Sit to Stand Process

2015 ◽  
Vol 742 ◽  
pp. 535-539
Author(s):  
Kun Liu ◽  
Jian Chen Zhao ◽  
En Guo Cao ◽  
Xuan Han
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Center Of Pressure ◽  
Rehabilitation Robot ◽  
Control Methods ◽  
Real Time Control ◽  
Joint Moments ◽  
Kinetics Parameters ◽  
Movement Trajectories ◽  
Sit To Stand

A new method for analyzing lower limb kinetics during sit to stand process is presented, and a trajectory control method (TCM) and an impedance control method (ICM) for a rehabilitation robot are developed. During the sit to stand process (SSP), body segment rotational angles, movement trajectories, ground reaction forces (GRF), center of pressure (COP) and rope tensile forces are measured by the robot sensor system, and the joint moments of ankle, knee and hip are calculated in real-time control program. Test experiments were performed on six volunteers. The experimental results validate the theory that the control methods can assure the accomplishment of the sit to stand process in comfortable postures, and improve the condition of joint moments. The control methods are suitable for self-supported home training, and can be applied to assess kinetics parameters during the sit to stand process and improve the rehabilitation of patients.

A Computable Framework to Efficiently Design Both Current and Robotic Legged Landers for Extraterrestrial Exploration Mission

2021 ◽  
pp. 1-8
Author(s):  
Youcheng Han ◽  
Weizhong Guo
Keyword(s):  
Truss Structures ◽  
Design Framework ◽  
Creative Development ◽  
Final Design ◽  
Physical Prototype ◽  
Current Design ◽  
Long Time ◽  
Design Paradigm ◽  
Close Range ◽  
Exploration Mission

Abstract Current legged landers are typical truss structures acting as one type of fundamental equipments for the close-range extraterrestrial exploration missions. Unluckily, the development process applying the current design framework always consumes a long time-span searching for the final design, accompanying masses of trial and error with inefficiency and diseconomy. Its kernel reason is that the stages from concept to scheme employ the paradigm of structural-analysis oriented redesign, and untimely embeds physical prototype experiments in masses of iterative design cycles. Furthermore, the current framework cannot support the creative development of future legged landers with novel concepts & mechanisms. Herein, we present a complete computable design framework for speeding up the development of both current and future legged landers, highlighted by new mathematical models and new principles of forward-design paradigm and multi-mode synergistic design paradigm to apply the numerical prototype simulation instead of the physical prototype experiment in most of iterative processes. This work will facilitate the extraterrestrial exploration missions using the current legged landers (truss-based) and the future legged lander (robot-based).

Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

2017 ◽  
Vol 14 (04) ◽  
pp. 1750010 ◽  
Author(s):  
Peng Yao ◽  
Tao Li ◽  
Minzhou Luo ◽  
Qingqing Zhang ◽  
Zhiying Tan
Keyword(s):  
Structural Design ◽  
Optimization Design ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
3D Model ◽  
Structural Characteristics ◽  
Humanoid Robots ◽  
Chain Mechanism ◽  
Serial Chain ◽  
Simulation Results

A new torso structure for a humanoid robot has been proposed. The structural characteristics and functions of human torso have been considered to gain inspirations for design purposes. The proposed torso structure consists of six revolute units divided into two basic categories connected in a serial chain mechanism. The proposed torso structure shows more advantages compared to traditional humanoid robots in terms of high degrees of freedom (DOFs), high stiffness, self-locking capabilities, as well as easy-to-control features. Bionic optimization design based on objective function method has been implemented on structural design for better motion performances. A 3D model has been elaborated and simulated in SolidWorks and ADAMS environments for structural design and kinematic simulation purposes, respectively. Simulation results show that the new bionic torso structure is able to well imitate movements of human torso.

scholarly journals The Design and Development of Sit to Stand Trainer for the Elderly

2020 ◽  
Vol 17 (8) ◽  
pp. 760-775
Author(s):  
Sairag SA-ADPRAI ◽  
Bunyong RUNGROUNGDOUYBOON
Keyword(s):  
Pearson Correlation ◽  
The Elderly ◽  
Berg Balance Scale ◽  
The Body ◽  
Lower Limbs ◽  
Experimental Conditions ◽  
Significant Similarity ◽  
Paired Samples ◽  
Sit To Stand ◽  
Natural Movement

Strengthening exercise for lower limbs is required in elderly. Repeated sit to stands could improve lower limbs strength, reduce limitations, and fall. The researchers developed a Sit to Stand Trainer, a device that assists and offers variable levels of weight support for users to stand. It was validated by comparing the kinematics and the kinetics between 2 experimental conditions; the movement that was assisted by Sit to Stand Trainer (STST) and the natural movement that was unassisted by Sit to Stand Trainer (No STST). This study is an Experimental Design using Pearson Correlation Coefficient. The time span of the observed movement was 2.5 s for all trials. The results in kinematics showed significant similarity in trunk, hip, knee, ankle angles and angular velocities including speed and distance of head between No STST to STST (P = 0.000). However, in kinetics, the maximum of vGRFs showed significant decrease in STST compared to No STST (P = 0.000). This represent that this device produces natural movement and speed. It also supports and helps to reduce the body weight that contacted to the ground in order to stand up easier. Thus, therapists could possibly consider this device for training in clinical practice. This research was studied within 6 weeks into training with Sit to Stand Trainer. This part of the study is a Quasi-Experimental Designs using Paired Samples T-tests. The results of the T-tests were compared before and after the training. The results showed a significant improvement in physical outcomes measurement tests; Berg Balance Scale (P = 0.000), 30-second Chair Stand (P = 0.001) and 4-meter Gait Speed (P = 0.000) among the elderly.

Aided sit to stand transfer by assistive robot and wearable sensors

2017 ◽  
Author(s):  
Daqian Yang ◽  
Ming Zhou ◽  
Jian Huang ◽  
Zhaohui Yang ◽  
Xiaoqiang Yu ◽  
...  
Keyword(s):  
Wearable Sensors ◽  
Sit To Stand ◽  
Assistive Robot

scholarly journals Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior

2021 ◽  
Vol 11 (19) ◽  
pp. 9351
Author(s):  
Erik Jung ◽  
Victoria Ly ◽  
Christopher Cheney ◽  
Nicholas Cessna ◽  
Mai Linh Ngo ◽  
...  
Keyword(s):  
Structural Integrity ◽  
Limited Range ◽  
Assistive Device ◽  
Proof Of Concept ◽  
Simulation Environment ◽  
Revolute Joints ◽  
Kinematic Behavior ◽  
Physical Prototype ◽  
Human Joints ◽  
Design Construction

In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in some applications. We propose a tensegrity-inspired robotic manipulator that can replicate the kinematic behavior of the human leg. The design of the hip and knee resembles the musculoskeletal connections within the human body. Our implementation represents muscles, tendons and ligament connections as cables, and bones as rods. This particular design manipulates muscles to replicate a human-like gait, which demonstrates its potential for use as an anatomically correct assistive device (prosthetic, exoskeleton, etc.). Using the [EJ]OpenSim 3.0 simulation environment, we estimated the kinematics and structural integrity of the proposed flexural joint design and determined the actuation strategies for our prototype. Kinematics for the prototype include the mechanical limitations and constraints derived from the simulations. We compared the simulation, physical prototype, and human leg behaviors for various ranges of motion and demonstrated the potential for using [EJ]OpenSim 3.0 as a flexible–rigid modeling and simulation environment.

Sign in / Sign up

Export Citation Format

Share Document