scholarly journals Research and Design of a New Horizontal Lower Limb Rehabilitation Training Robot

10.5772/62032 ◽  
2016 ◽  
Vol 13 (1) ◽  
pp. 10 ◽  
Author(s):  
Bingjing Guo ◽  
Jianhai Han ◽  
Xiangpan Li ◽  
Taotao Fang ◽  
Aimin You
Keyword(s):  
Lower Limb ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Research And Design ◽  
Lower Limb Rehabilitation

Design, Synthesis and Experiment of Foot-driven Lower Limb Rehabilitation Mechanisms

2021 ◽  
pp. 1-44
Author(s):  
Chennan Yu ◽  
Jun Ye ◽  
Jiangming Jia ◽  
Xiong Zhao ◽  
Zhiwei Chen ◽  
...  
Keyword(s):  
Ankle Joint ◽  
Lower Limb ◽  
Gear Train ◽  
Home Healthcare ◽  
Dimensional Synthesis ◽  
Linkage Mechanism ◽  
Open Chain ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Abstract A foot-driven rehabilitation mechanism is suitable for home healthcare due to its advantages of simplicity, effectiveness, small size, and low price. However, most of the existing studies on lower limb rehabilitation movement only consider the trajectory of the ankle joint and ignore the influence of its posture angle, which makes it difficult to ensure the rotation requirements of the ankle joint and achieve a better rehabilitation effect. Aiming at the shortcomings of the current research, this paper proposes a new single degree-of-freedom (DOF) configuration that uses a noncircular gear train to constrain the three revolute joints (3R) open-chain linkage and expounds its dimensional synthesis method. Then, a parameter optimization model of the mechanism is established, and the genetic algorithm is used to optimize the mechanism parameters. According to the eight groups of key poses and position points of the ankle joint and the toe, the different configurations of the rehabilitation mechanism are synthesized and compared, and it is concluded that the newly proposed 3R open-chain noncircular gear-linkage mechanism exhibits better performance. Finally, combined with the requirements of rehabilitation training, a lower limb rehabilitation training device is designed based on this new configuration, and a prototype is developed and tested. The test results show that the device can meet the requirements of the key position points and posture angles of the ankle joint and the toe and verify the correctness of the proposed dimensional synthesis and optimization methods.

Appraise and analysis of dynamical stability of cable-driven lower limb rehabilitation training robot

2019 ◽  
Vol 33 (11) ◽  
pp. 5461-5472 ◽  
Author(s):  
Yan-lin Wang ◽  
Ke-yi Wang ◽  
Wan-li Wang ◽  
Peng-cheng Yin ◽  
Zhuang Han
Keyword(s):  
Lower Limb ◽  
Dynamical Stability ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

A Study on an Evaluation Method of a Rehabilitation Robot Based on Fuzzy Comprehensive Evaluation

2014 ◽  
Vol 926-930 ◽  
pp. 1144-1147
Author(s):  
Lei Chen ◽  
Chang Niu Yang ◽  
Wen Quan Huang ◽  
Ze Gang Sun ◽  
Yu Cong Liu
Keyword(s):  
Lower Limb ◽  
Evaluation Method ◽  
Comprehensive Evaluation ◽  
Evaluation Model ◽  
Fuzzy Comprehensive Evaluation ◽  
Actual State ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

To solve the rehabilitation evaluation problem of rehabilitation training, a rehabilitation evaluation method based on fuzzy comprehensive evaluation was presented for 6-DOF wearable lower limb rehabilitation robot. Relative degradation degree was introduced to represent the transformation of the actual state of rehabilitation training and the very poor rehabilitation. On the basis, Rehabilitation evaluation model was built based on fuzzy comprehensive evaluation, each layer of which was evaluated respectively, and suggests rehabilitation evaluation results of a lower limb rehabilitation robot. The instance analysis shows that the method is reasonable and effective.

scholarly journals Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients

Machines ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 224
Author(s):  
Xusheng Wang ◽  
Yongfei Feng ◽  
Jiazhong Zhang ◽  
Yungui Li ◽  
Jianye Niu ◽  
...  
Keyword(s):  
Lower Limb ◽  
Interventional Therapy ◽  
The Body ◽  
Lower Limbs ◽  
Linkage Mechanism ◽  
Training Module ◽  
Stroke Patients ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Carrying out the immediate rehabilitation interventional therapy will better improve the curative effect of rehabilitation therapy, after the condition of bedridden stroke patients becomes stable. A new lower limb rehabilitation training module, as a component of a synchronous rehabilitation robot for bedridden stroke patients’ upper and lower limbs, is proposed. It can electrically adjust the body shape of patients with a different weight and height. Firstly, the innovative mechanism design of the lower limb rehabilitation training module is studied. Then, the mechanism of the lower limb rehabilitation module is simplified and the geometric relationship of the human–machine linkage mechanism is deduced. Next, the trajectory planning and dynamic modeling of the human–machine linkage mechanism are carried out. Based on the analysis of the static moment safety protection of the human–machine linkage model, the motor driving force required in the rehabilitation process is calculated to achieve the purpose of rationalizing the rehabilitation movement of the patient’s lower limb. To reconstruct the patient’s motor functions, an active training control strategy based on the sandy soil model is proposed. Finally, the experimental platform of the proposed robot is constructed, and the preliminary physical experiment proves the feasibility of the lower limb rehabilitation component.

Appraisement and Analysis of Dynamical Stability of Under-Constrained Cable-Driven Lower-Limb Rehabilitation Training Robot

Robotica ◽  
2020 ◽  
pp. 1-14 ◽  
Author(s):  
Yan-Lin Wang ◽  
Ke-Yi Wang ◽  
Wan-Li Wang ◽  
Zhuang Han ◽  
Zi-Xing Zhang
Keyword(s):  
Lower Limb ◽  
Stability Index ◽  
Dynamical Stability ◽  
Eigenvalue Decomposition ◽  
Constrained System ◽  
Rehabilitation Training ◽  
Distribution Laws ◽  
The Stability ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

SUMMARY The dynamical stability of the cable-driven lower-limb rehabilitation training robot (CLLRTR) is a crucial question. Based on the established dynamics model of CLLRTR, the solution to the wrench closure of the under-constrained system is presented. Secondly, the stability index of CLLRTR is proposed by the Krasovski method. Finally, in order to analyze the stability distribution of CLLRTR in the workspace, the stability evaluation index in the workspace is calculated using the eigenvalue decomposition method. The stability distribution laws of CLLRTR are further verified by the experimental study. The results provide references for studying trajectory planning and anti-pendulum control of CLLRTR.

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