LOWER LIMB REHABILITATION ROBOT FOR GAIT TRAINING

被引：9

作者：

Guo Shuai ^{[1
]}

Ji Jiancheng ^{[1
]}

Ma Guangwei ^{[1
]}

Song Tao ^{[1
]}

Wang Jing ^{[1
]}

机构：

[1] Shanghai Univ, Hosp Jiaxing 2, Mech Engn & Automat Coll, Rehabil Med Ctr, Shanghai, Peoples R China

来源：

JOURNAL OF MECHANICS IN MEDICINE AND BIOLOGY | 2014年 / 14卷 / 06期

关键词：

Lower limb rehabilitation robot; kinematics modeling and simulation; post stroke rehabilitation training;

D O I：

10.1142/S0219519414400041

中图分类号：

Q6 [生物物理学];

学科分类号：

071011 ;

摘要：

After analyzing the rehabilitation needs of stroke patients and the previous studies on lower limb rehabilitation robot, our lower limb rehabilitation robot is designed for stroke patients' gait and balance training. The robot consists of the mobile chassis, the support column and the pelvis mechanism and it is described in detail. As the pelvis mechanism allows most of the patient's motion degrees of freedom (DOFs), the kinematics model of the mechanism is set up, and kinematics simulation is carried out to study the motion characteristics of the mechanism. After analyzing the calculation and simulation results, the pelvis mechanism is proven to measure up to the movement needs of the paralytic's waist and pelvis in walking rehabilitation process.

引用

页数：9

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