scholarly journals A Sit-to-Stand Training Robot and Its Performance Evaluation: Dynamic Analysis in Lower Limb Rehabilitation Activities

2012 ◽  
Vol 6 (4) ◽  
pp. 466-481 ◽  
Author(s):  
Enguo CAO ◽  
Yoshio INOUE ◽  
Tao LIU ◽  
Kyoko SHIBATA
Keyword(s):  
Performance Evaluation ◽  
Dynamic Analysis ◽  
Lower Limb ◽  
Sit To Stand ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals Lower Limb Rehabilitation Using Patient Data

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Alireza Rastegarpanah ◽  
Mozafar Saadat
Keyword(s):  
Dynamic Analysis ◽  
Lower Limb ◽  
Parallel Robot ◽  
Patient Data ◽  
Position Error ◽  
Males And Females ◽  
Limb Rehabilitation ◽  
High Repeatability ◽  
Lower Limb Rehabilitation ◽  
Foot Trajectory

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

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
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