Mechanism design and analysis of a hybrid-input parallel rehabilitation robot with humanoid gaits

被引：0
|
作者：
Jiang L. [1 ]
Wang L. [1 ]
Wang Y. [1 ]
Chen J. [2 ]
机构：
[1] School of Mechanical Engineering, Hefei University of Technology, Hefei
[2] Department of Rehabilitation Medicine, Anhui Provincial Hospital, Hefei
来源：
Wang, Yong (simenkouwang@sina.com) | 1600年 / Chinese Academy of Sciences卷 / 38期
关键词：
Gait trajectory; Hybrid input; Mechanism analysis; Mechanism design; Parallel rehabilitation robot;
D O I：
10.13973/j.cnki.robot.2016.0495
中图分类号：
学科分类号：
摘要：
Owing to the absence of the rehabilitation robot for application in the community and family, a novel robot is developed for hemiplegic patients treating with different strides in the community and family. By exploring the characteristics of normal gaits and hemiplegic patient gaits in rehabilitation treating process, a variable-stride hybrid-input rehabilitation robot is designed for community and family applications on the basis of parallel mechanism. The dimensions of robot's actuator are calculated based on the normal gait of adults with 185 cm height, and the kinematics, the workspace and the control law of robot's actuator are analyzed and simulated, which prove the feasibility of the design scheme in theory. The prototype test results show that the robot can make the subject perform gait motion with the shoulder joint range from -14.8° to 23.7°, the knee joint range from 1.8° to 66.5° and the step length less than 68 cm through changing the length of the crank and the angle of the adjusting rod. © 2016, Science Press. All right reserved.
引用
收藏
页码：495 / 503
页数：8
相关论文
共 21 条
  • [1] Ostwald S.K., Davis S., Hersch G., Et al., Evidence-based educational guidelines for stroke survivors after discharge home, Journal of Neuroscience Nursing, 40, 3, pp. 173-191, (2008)
  • [2] Wang T., Ni C.M., Fan W.X., Et al., Long-term effect of community-based rehabilitation on function and quality of life in stroke patients, Chinese Journal of Rehabilitation Medicine, 24, 10, pp. 934-937, (2009)
  • [3] Zhang F.X., Fu Y.L., Wang S.G., Overview of rehabilitation robots research, Hebei Journal of Industrial Science and Technology, 22, 2, pp. 100-105, (2005)
  • [4] Wang H.B., Wu J.S., Wang Y.B., Et al., Research on the lower limb gait rehabilitation, IEEE International Conference on Mechatronics and Automation, pp. 1243-1247, (2014)
  • [5] Krebs H.I., Hogan N., Overview of clinical trials with MITMANUS: A robot-aided neuro-rehabilitation facility, Technology and Health Care, 7, 6, pp. 419-423, (1999)
  • [6] Reinkensmeyer D.J., Takahashi C.D., Timoszyk W.K., Design of robot assistance for arm movement therapy following stroke, Advanced Robotics, 14, 7, pp. 625-637, (2000)
  • [7] Burgar C.G., Lum P.S., Scremin A.M.E., Et al., Robot-assisted upper-limb therapy in acute rehabilitation setting following stroke: Department of veterans affairs multisite clinical trial, Journal of Rehabilitation Research and Development, 48, 4, pp. 445-458, (2011)
  • [8] Zhang X.F., Ji L.H., Wang J.X., Robotic aid for upper limb rehabilitation, Journal of Tsinghua University: Science and Technology, 46, 11, pp. 1864-1867, (2006)
  • [9] Pan L.Z., Song A.G., Xu G.Z., Et al., Upper-limb rehabilitation robot motion control based on dynamic interpolation, Robot, 34, 5, pp. 539-545, (2012)
  • [10] Hidler J., Nichols D., Pelliccio M., Et al., Multicenter randomized clinical trial evaluating the effectiveness of the Lokomat in subacute stroke, Neurorehabilitation and Neural Repair, 23, 1, pp. 5-13, (2009)
123