New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors
The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the re...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/15/3439 |
| _version_ | 1811212991106908160 |
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| author | Yongfei Feng Hongbo Wang Luige Vladareanu Zheming Chen Di Jin |
| author_facet | Yongfei Feng Hongbo Wang Luige Vladareanu Zheming Chen Di Jin |
| author_sort | Yongfei Feng |
| collection | DOAJ |
| description | The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the rehabilitation process, a new motion intention acquisition method based on static torque sensors is proposed. This motion intention acquisition method is established through the dynamics modeling of human−machine coordination, which is built on the basis of Lagrangian equations. Combined with the static torque sensors installed on the mechanism leg joint axis, the LLR-Ro can obtain the active force from the patient’s leg. Based on the variation of the patient’s active force and the kinematic functional relationship of the patient’s leg end point, the patient motion intention is obtained and used in the proposed active rehabilitation training method. The simulation experiment demonstrates the correctness of mechanism leg dynamics equations through ADAMS software and MATLAB software. The calibration experiment of the joint torque sensors’ combining limit range filter with an average value filter provides the hardware support for active rehabilitation training. The consecutive variation of the torque sensors from just the mechanism leg weight, as well as both the mechanism leg and the patient leg weights, obtains the feasibility of lower limb motion intention acquisition. |
| first_indexed | 2024-04-12T05:38:37Z |
| format | Article |
| id | doaj.art-43c500ee18bb4ac9b1ae32d7a423709b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-12T05:38:37Z |
| publishDate | 2019-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-43c500ee18bb4ac9b1ae32d7a423709b2022-12-22T03:45:43ZengMDPI AGSensors1424-82202019-08-011915343910.3390/s19153439s19153439New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque SensorsYongfei Feng0Hongbo Wang1Luige Vladareanu2Zheming Chen3Di Jin4Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, ChinaRobotics and Mechatronics Department, Institute of Solid Mechanics of the Romanian Academy, 010141 Bucharest, RomaniaFaculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, ChinaFaculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, ChinaThe rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the rehabilitation process, a new motion intention acquisition method based on static torque sensors is proposed. This motion intention acquisition method is established through the dynamics modeling of human−machine coordination, which is built on the basis of Lagrangian equations. Combined with the static torque sensors installed on the mechanism leg joint axis, the LLR-Ro can obtain the active force from the patient’s leg. Based on the variation of the patient’s active force and the kinematic functional relationship of the patient’s leg end point, the patient motion intention is obtained and used in the proposed active rehabilitation training method. The simulation experiment demonstrates the correctness of mechanism leg dynamics equations through ADAMS software and MATLAB software. The calibration experiment of the joint torque sensors’ combining limit range filter with an average value filter provides the hardware support for active rehabilitation training. The consecutive variation of the torque sensors from just the mechanism leg weight, as well as both the mechanism leg and the patient leg weights, obtains the feasibility of lower limb motion intention acquisition.https://www.mdpi.com/1424-8220/19/15/3439lower limbrehabilitation robotmotion intention acquisitionstatic torque sensor |
| spellingShingle | Yongfei Feng Hongbo Wang Luige Vladareanu Zheming Chen Di Jin New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors Sensors lower limb rehabilitation robot motion intention acquisition static torque sensor |
| title | New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors |
| title_full | New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors |
| title_fullStr | New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors |
| title_full_unstemmed | New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors |
| title_short | New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors |
| title_sort | new motion intention acquisition method of lower limb rehabilitation robot based on static torque sensors |
| topic | lower limb rehabilitation robot motion intention acquisition static torque sensor |
| url | https://www.mdpi.com/1424-8220/19/15/3439 |
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