Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation
To solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221135140 |
| _version_ | 1797988760380506112 |
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| author | Gang Li Qiying Su Wenqiu Xi Zhendong Song Renren Bao Zhenjun Du |
| author_facet | Gang Li Qiying Su Wenqiu Xi Zhendong Song Renren Bao Zhenjun Du |
| author_sort | Gang Li |
| collection | DOAJ |
| description | To solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints. Three structural design projects for leg and an integrated joint with the function of force perception are proposed. Then a lightweight exoskeleton is put forward and a kinematics simulation of man–machine coupling system is carried out in ADAMS. This article sets up a 24-V low-voltage control electrical system and a rehabilitation training expert system. Some performance tests and clinical experiments are carried out by an experimental prototype. The results show that the joints have sufficient driving torque. Leg structure has large adjustment range and self-locking function. The exoskeleton has lightweight and does not interfere with human body during movement. The expert system has a friendly operation interface and abundant functions. Clinical experimental results show that lower limb exoskeleton has good rehabilitation effect for some diseases. |
| first_indexed | 2024-04-11T08:09:06Z |
| format | Article |
| id | doaj.art-4d49166c0ea142a68e7cfa362d16ce72 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-11T08:09:06Z |
| publishDate | 2022-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-4d49166c0ea142a68e7cfa362d16ce722022-12-22T04:35:26ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-11-011910.1177/17298806221135140Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitationGang Li0Qiying Su1Wenqiu Xi2Zhendong Song3Renren Bao4Zhenjun Du5 SIASUN Robot & Automation Co. Ltd, Shenyang, China School of Automation Science and Electrical Engineering, Beihang University, Beijing, China The First Affiliated Hospital of Harbin Medical University, Harbin, China Shen Zhen Polytechnic, Shenzhen, China SIASUN Robot & Automation Co. Ltd, Shenyang, China SIASUN Robot & Automation Co. Ltd, Shenyang, ChinaTo solve some defects of exoskeleton robot at present, this article establishes the dynamic model of human lower limb. The torque curves for hip joint and knee joint are obtained. A dynamics simulation is conducted in ADAMS which will guide the selection of motors and reducers for exoskeleton joints. Three structural design projects for leg and an integrated joint with the function of force perception are proposed. Then a lightweight exoskeleton is put forward and a kinematics simulation of man–machine coupling system is carried out in ADAMS. This article sets up a 24-V low-voltage control electrical system and a rehabilitation training expert system. Some performance tests and clinical experiments are carried out by an experimental prototype. The results show that the joints have sufficient driving torque. Leg structure has large adjustment range and self-locking function. The exoskeleton has lightweight and does not interfere with human body during movement. The expert system has a friendly operation interface and abundant functions. Clinical experimental results show that lower limb exoskeleton has good rehabilitation effect for some diseases.https://doi.org/10.1177/17298806221135140 |
| spellingShingle | Gang Li Qiying Su Wenqiu Xi Zhendong Song Renren Bao Zhenjun Du Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation International Journal of Advanced Robotic Systems |
| title | Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| title_full | Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| title_fullStr | Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| title_full_unstemmed | Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| title_short | Dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| title_sort | dynamic analysis and design of a multipurpose lower limb exoskeleton for rehabilitation |
| url | https://doi.org/10.1177/17298806221135140 |
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