Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling
A bedside rehabilitation robot is developed to address the challenge of motor rehabilitation for patients with lower limb paralysis. Firstly, based on the principles of physical rehabilitation, a two-link planar robot model is used to simulate both the robot and human lower limbs, and the coupling c...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2024-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241238992 |
| _version_ | 1797221269227175936 |
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| author | Zhiqiang Wang Jianhai Han Bingjing Guo Xiangpan Li Ganqin Du |
| author_facet | Zhiqiang Wang Jianhai Han Bingjing Guo Xiangpan Li Ganqin Du |
| author_sort | Zhiqiang Wang |
| collection | DOAJ |
| description | A bedside rehabilitation robot is developed to address the challenge of motor rehabilitation for patients with lower limb paralysis. Firstly, based on the principles of physical rehabilitation, a two-link planar robot model is used to simulate both the robot and human lower limbs, and the coupling characteristics between the human and robot are thoroughly analyzed. Then, the lower limb rehabilitation robot, fitted with an end-effector and ankle wearable feature, is designed according to the structural parameters. To enhance patient safety during rehabilitation, the device incorporates a freely rotating leg support mechanism that reduces the load on the ankle due to gravitational forces, and a two-stage series elastic mechanism is integrated below the foot support to provide a passive compliant output of robot power, allowing for more natural movement and reducing the risk of injury. Secondly, dynamic modeling is used to determine the dynamic parameters of the robot by conducting simulation calculations based on the inertia parameters of the human body and the robot model design parameters. Finally, an experimental platform is established using the structural and dynamic parameters, and the robot’s reliability is validated through experimentation. Results indicate that the robot can accurately complete passive rehabilitation training tasks, and the dynamic parameters meet the expected requirements. |
| first_indexed | 2024-04-24T13:02:45Z |
| format | Article |
| id | doaj.art-449da604ab864050a8f33263cfaf9c3c |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-24T13:02:45Z |
| publishDate | 2024-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-449da604ab864050a8f33263cfaf9c3c2024-04-05T10:03:34ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142024-04-012110.1177/17298806241238992Structural design and research of a novel lower limb rehabilitation robot for human–robot couplingZhiqiang Wang0Jianhai Han1Bingjing Guo2Xiangpan Li3Ganqin Du4 School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, China Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang, China Henan Provincial Key Laboratory of Robotics and Intelligent Systems, Luoyang, China Henan Provincial Key Laboratory of Robotics and Intelligent Systems, Luoyang, China The First Affiliated Hospital of Henan University of Science and Technology, Luoyang, ChinaA bedside rehabilitation robot is developed to address the challenge of motor rehabilitation for patients with lower limb paralysis. Firstly, based on the principles of physical rehabilitation, a two-link planar robot model is used to simulate both the robot and human lower limbs, and the coupling characteristics between the human and robot are thoroughly analyzed. Then, the lower limb rehabilitation robot, fitted with an end-effector and ankle wearable feature, is designed according to the structural parameters. To enhance patient safety during rehabilitation, the device incorporates a freely rotating leg support mechanism that reduces the load on the ankle due to gravitational forces, and a two-stage series elastic mechanism is integrated below the foot support to provide a passive compliant output of robot power, allowing for more natural movement and reducing the risk of injury. Secondly, dynamic modeling is used to determine the dynamic parameters of the robot by conducting simulation calculations based on the inertia parameters of the human body and the robot model design parameters. Finally, an experimental platform is established using the structural and dynamic parameters, and the robot’s reliability is validated through experimentation. Results indicate that the robot can accurately complete passive rehabilitation training tasks, and the dynamic parameters meet the expected requirements.https://doi.org/10.1177/17298806241238992 |
| spellingShingle | Zhiqiang Wang Jianhai Han Bingjing Guo Xiangpan Li Ganqin Du Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling International Journal of Advanced Robotic Systems |
| title | Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling |
| title_full | Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling |
| title_fullStr | Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling |
| title_full_unstemmed | Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling |
| title_short | Structural design and research of a novel lower limb rehabilitation robot for human–robot coupling |
| title_sort | structural design and research of a novel lower limb rehabilitation robot for human robot coupling |
| url | https://doi.org/10.1177/17298806241238992 |
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