scholarly journals An Open-Structure Treadmill Gait Trainer: From Research to Application

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Jian Li ◽  
Diansheng Chen ◽  
Yubo Fan
Keyword(s):  
Lower Limb ◽  
Motor Impairments ◽  
Security Strategy ◽  
Open Structure ◽  
Rehabilitation Robots ◽  
Actual Use ◽  
Gait Function ◽  
Limb Rehabilitation ◽  
Gait Trainer ◽  
Lower Limb Rehabilitation

Lower limb rehabilitation robots are designed to enhance gait function in individuals with motor impairments. Although numerous rehabilitation robots have been developed, only few of these robots have been used in practical health care, particularly in China. The objective of this study is to construct a lower limb rehabilitation robot and bridge the gap between research and application. Open structure to facilitate practical application was created for the whole robot. Three typical movement patterns of a single leg were adopted in designing the exoskeletons, and force models for patient training were established and analyzed under three different conditions, respectively, and then a control system and security strategy were introduced. After establishing the robot, a preliminary experiment on the actual use of a prototype by patients was conducted to validate the functionality of the robot. The experiment showed that different patients and stages displayed different performances, and results on the trend variations across patients and across stages confirmed the validity of the robot and suggested that the design may lead to a system that could be successful in the treatment of patients with walking disorders in China. Furthermore, this study could provide a reference for a similar application design.

scholarly journals A New Projected Active Set Conjugate Gradient Approach for Taylor-Type Model Predictive Control: Application to Lower Limb Rehabilitation Robots With Passive and Active Rehabilitation

2020 ◽  
Vol 14 ◽  
Author(s):  
Tian Shi ◽  
Yantao Tian ◽  
Zhongbo Sun ◽  
Bangcheng Zhang ◽  
Zaixiang Pang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Conjugate Gradient ◽  
Lower Limb ◽  
Numerical Approach ◽  
Active Set ◽  
Rehabilitation Robots ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Gradient Approach ◽  
Lower Limb Rehabilitation

In this paper, a three-order Taylor-type numerical differentiation formula is firstly utilized to linearize and discretize constrained conditions of model predictive control (MPC), which can be generalized from lower limb rehabilitation robots. Meanwhile, a new numerical approach that projected an active set conjugate gradient approach is proposed, analyzed, and investigated to solve MPC. This numerical approach not only incorporates both the active set and conjugate gradient approach but also utilizes a projective operator, which can guarantee that the equality constraints are always satisfied. Furthermore, rigorous proof of feasibility and global convergence also shows that the proposed approach can effectively solve MPC with equality and bound constraints. Finally, an echo state network (ESN) is established in simulations to realize intention recognition for human–machine interactive control and active rehabilitation training of lower-limb rehabilitation robots; simulation results are also reported and analyzed to substantiate that ESN can accurately identify motion intention, and the projected active set conjugate gradient approach is feasible and effective for lower-limb rehabilitation robot of MPC with passive and active rehabilitation training. This approach also ensures computational when disturbed by uncertainties in system.

Synthesis and experiment of a lower limb exoskeleton rehabilitation robot

2017 ◽  
Vol 44 (3) ◽  
pp. 264-274 ◽  
Author(s):  
Jian Li ◽  
Diansheng Chen ◽  
Chunjing Tao ◽  
Hui Li
Keyword(s):  
Lower Limb ◽  
Therapeutic Effects ◽  
Rehabilitation Robot ◽  
Practical Application ◽  
Content Type ◽  
Lower Limb Exoskeleton ◽  
Actual Use ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

Purpose Many studies have shown that rehabilitation robots are crucial for lower limb dysfunction, but application of many robotics have yet to be seen to actual use in China. This study aimed to improve a lower limb rehabilitation robot by details improving and practical design. Design/methodology/approach Structures and control system of a lower limb rehabilitation robot are improved in detail, including joint calculations, comfort analysis and feedback logic creation, and prototype experiments on healthy individuals and patients are conducted in a hospital. Findings All participating subjects did not experience any problems. The experiment shows detail improving is reasonable, and feasibility of the robot was confirmed, which has potential for overcoming difficulties and problems in practical application. Research limitations/implications Therapeutic effects need to be evaluated in the future. Also, more details should be improved continuously based on the actual demand. Originality/value The improved robot could assist the lower limb during standing or walking, which has significance for practical application and patients in China.

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.

Mechanical Structure and Control Methods for Lower-Limb Rehabilitation Robots

2021 ◽  
Author(s):  
Wangyang Ge ◽  
Ruoyu Jiang ◽  
Juan Zhao ◽  
Zhentao Liu ◽  
Zhaohui Yang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Control Methods ◽  
Mechanical Structure ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type

2014 ◽  
Vol 74 ◽  
pp. 337-353 ◽  
Author(s):  
Weiqun Wang ◽  
Zeng-Guang Hou ◽  
Lina Tong ◽  
Feng Zhang ◽  
Yixiong Chen ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals Robotics in Lower-Limb Rehabilitation after Stroke

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Xue Zhang ◽  
Zan Yue ◽  
Jing Wang
Keyword(s):  
Lower Limb ◽  
The Elderly ◽  
Motor Dysfunction ◽  
Common Disease ◽  
Permanent Disability ◽  
Rehabilitation Robots ◽  
Detection Technology ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation

With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.

scholarly journals Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7020
Author(s):  
Yan Lin Wang ◽  
Ke Yi Wang ◽  
Kui Cheng Wang ◽  
Zong Jun Mo
Keyword(s):  
Lower Limb ◽  
Safety Evaluation ◽  
Safety Performance ◽  
Evaluation Index ◽  
Structural Safety ◽  
Rehabilitation Robot ◽  
Performance Factors ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to study the safety evaluation methods and evaluation index of cable-driven rehabilitation robots. A bionic muscle cable (BM cable) is proposed to construct a bionic muscle cable-driven lower limb rehabilitation robot (BM-CDLR). The working principle of the BM-CDLR is introduced. The safety performance factors are defined based on the mechanical analysis of the BM-CDLR. The structural safety evaluation index and the use safety evaluation index of the BM-CDLR are given by comprehensively considering the safety performance factors and a proposed speed influence function. The effect of the structural parameters of the elastic elements in the BM cable on the safety performance factors and safety of the BM-CDLR is analyzed and verified by numerical simulations and experimental studies. The results provide the basis for further study of the compliance control strategy and experiments of the human-machine interaction of the BM-CDLR.

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