Trajectory planning and mechanic’s analysis of lower limb rehabilitation robot

2015 ◽  
Vol 26 (s1) ◽  
pp. S347-S355 ◽  
Author(s):  
Tang Zhiyong ◽  
Xu Xiaodong ◽  
Pei Zhongcai
Keyword(s):  
Trajectory Planning ◽  
Lower Limb ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals Trajectory planning of a novel lower limb rehabilitation robot for stroke patient passive training

2017 ◽  
Vol 9 (12) ◽  
pp. 168781401773766 ◽  
Author(s):  
Yongfei Feng ◽  
Hongbo Wang ◽  
Yaxin Du ◽  
Fei Chen ◽  
Hao Yan ◽  
...  
Keyword(s):  
Stroke Patient ◽  
Trajectory Planning ◽  
Lower Limb ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation ◽  
Passive Training

scholarly journals A 4-DOF Workspace Lower Limb Rehabilitation Robot: Mechanism Design, Human Joint Analysis and Trajectory Planning

2020 ◽  
Vol 10 (13) ◽  
pp. 4542 ◽  
Author(s):  
Hongbo Wang ◽  
Musong Lin ◽  
Zhennan Jin ◽  
Hao Yan ◽  
Guowei Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Lower Limb ◽  
Kinematic Model ◽  
Joint Analysis ◽  
Rehabilitation Robot ◽  
Analysis Method ◽  
Patient Handling ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation ◽  
Human Joint

Most of currently rehabilitation robots cannot achieve the adduction/abduction (A/A) training of the hip joint and lack the consideration of the patient handling. This paper presents a four degrees of freedom (DOF) spatial workspace lower limb rehabilitation robot, and it could provide flexion/extension (F/E) training to three lower limb joints and A/A training to the hip joint. The training method is conducting the patient’s foot to complete the rehabilitation movement, and the patient could directly take training on the wheelchair and avoid frequent patient handling between the wheelchair and the rehabilitation device. Because patients own different joint range of motions (ROM), an analysis method for obtaining human joint motions is proposed to guarantee the patient’s joint safety in this training method. The analysis method is based on a five-bar linkage kinematic model, which includes the human lower limb. The human-robot hybrid kinematic model is analyzed according to the Denavit-Hartenberg (D-H) method, and a variable human-robot workspace based on the user is proposed. Two kinds of trajectory planning methods are introduced. The trajectory planning method and the human joint analysis method are validated through the trajectory tracking experiment of the prototype.

scholarly journals Mechanical design and trajectory planning of a lower limb rehabilitation robot with a variable workspace

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877685 ◽  
Author(s):  
Hongbo Wang ◽  
Yongfei Feng ◽  
Hongnian Yu ◽  
Zhenghui Wang ◽  
Victor Vladareanuv ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Lower Limb ◽  
Mechanical Design ◽  
Rehabilitation Robot ◽  
Leg Length ◽  
Joint Rotation ◽  
Important Principle ◽  
Planning Methods ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

The early phase of extremity rehabilitation training has high potential impact for stroke patients. However, most of the lower limb rehabilitation robots in hospitals are proposed just suitable for patients at the middle or later recovery stage. This article investigates a new sitting/lying multi-joint lower limb rehabilitation robot. It can be used at all recovery stages, including the initial stage. Based on man–machine engineering and the innovative design for mechanism, the leg length of the lower limb rehabilitation robot is automatically adjusted to fit patients with different heights. The lower limb rehabilitation robot is a typical human–machine system, and the limb safety of the patient is the most important principle to be considered in its design. The hip joint rotation ranges are different in people’s sitting and lying postures. Different training postures cannot make the training workspace unique. Besides the leg lengths and joint rotation angles varied with different patients, the idea of variable workspace of the lower limb rehabilitation robot is first proposed. Based on the variable workspace, three trajectory planning methods are developed. In order to verify the trajectory planning methods, an experimental study has been conducted. Theoretical and actual curves of the hip rotation, knee rotation, and leg mechanism end point motion trajectories are obtained for three unimpaired subjects. Most importantly, a clinical trial demonstrated the safety and feasibility of the proposed lower limb rehabilitation robot.

scholarly journals The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot

2018 ◽  
Vol 10 (6) ◽  
pp. 168781401877586 ◽  
Author(s):  
Ke-Yi Wang ◽  
Peng-Cheng Yin ◽  
Hai-Peng Yang ◽  
Xiao-Qiang Tang
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Lower Limb ◽  
Simulation Analysis ◽  
External Rotation ◽  
Influence Coefficient ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motion training of lower limb’s flexion and extension. A kind of the lower limb rehabilitation robot is conceived which can achieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed to research the robot’s structure and motion planning. When analyzing the typical movement forms of the lower limb, the relation of man–machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot is conceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method is used to analyze the kinematics of the robot. According to the rehabilitation training of man–machine cooperation relations, the trajectory planning strategy is studied. A robot configuration that meets the needs of rehabilitation motion trajectory planning is drawn by setting the parameters of the robot mechanism and simulation. According to the trajectory of the training program, the simulation analysis of the state of wire movement is carried out. The experimental study of adduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.

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.

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