Modeling and control of a bedside cable-driven lower-limb rehabilitation robot for bedridden individuals

被引:0
|
作者
Wang, Daoyu [1 ]
Li, Jicai [2 ]
Jian, Zhuo [2 ]
Su, Hao [3 ,4 ,5 ]
Wang, Hongbo [1 ]
Fang, Fanfu [6 ]
机构
[1] Fudan Univ, Acad Engn & Technol, Shanghai, Peoples R China
[2] Shanghai ZD Med Technol Co Ltd, Shanghai 200433, Peoples R China
[3] North Carolina State Univ, Dept Mech & Aerosp Engn, Raleigh, NC USA
[4] North Carolina State Univ, Joint NCSU UNC Dept Biomed Engn, Raleigh, NC USA
[5] Univ North Carolina Chapel Hill, Chapel Hill, NC USA
[6] Changhai Hosp, Dept Rehabil Med, Shanghai, Peoples R China
关键词
cable-driven; lower-limb rehabilitation; human-machine coupling; impedance identification; sling exercise therapy; EXERCISE; THERAPY; DESIGN; STROKE; IMPLEMENTATION; BALANCE; SYSTEM; DEVICE; FORCE;
D O I
10.3389/fbioe.2023.1321905
中图分类号
Q81 [生物工程学(生物技术)]; Q93 [微生物学];
学科分类号
071005 ; 0836 ; 090102 ; 100705 ;
摘要
Individuals with acute neurological or limb-related disorders may be temporarily bedridden and unable to go to the physical therapy departments. The rehabilitation training of these patients in the ward can only be performed manually by therapists because the space in inpatient wards is limited. This paper proposes a bedside cable-driven lower-limb rehabilitation robot based on the sling exercise therapy theory. The robot can actively drive the hip and knee motions at the bedside using flexible cables linking the knee and ankle joints. A human-cable coupling controller was designed to improve the stability of the human-machine coupling system. The controller dynamically adjusts the impedance coefficient of the cable driving force based on the impedance identification of the human lower-limb joints, thus realizing the stable motion of the human body. The experiments with five participants showed that the cable-driven rehabilitation robot effectively improved the maximum flexion of the hip and knee joints, reaching 85 degrees and 90 degrees, respectively. The mean annulus width of the knee joint trajectory was reduced by 63.84%, and the mean oscillation of the ankle joint was decreased by 56.47%, which demonstrated that human joint impedance identification for cable-driven control can effectively stabilize the motion of the human-cable coupling system.
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页数:12
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