Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients
Carrying out the immediate rehabilitation interventional therapy will better improve the curative effect of rehabilitation therapy, after the condition of bedridden stroke patients becomes stable. A new lower limb rehabilitation training module, as a component of a synchronous rehabilitation robot f...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/10/224 |
| _version_ | 1797514108006825984 |
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| author | Xusheng Wang Yongfei Feng Jiazhong Zhang Yungui Li Jianye Niu Yandong Yang Hongbo Wang |
| author_facet | Xusheng Wang Yongfei Feng Jiazhong Zhang Yungui Li Jianye Niu Yandong Yang Hongbo Wang |
| author_sort | Xusheng Wang |
| collection | DOAJ |
| description | Carrying out the immediate rehabilitation interventional therapy will better improve the curative effect of rehabilitation therapy, after the condition of bedridden stroke patients becomes stable. A new lower limb rehabilitation training module, as a component of a synchronous rehabilitation robot for bedridden stroke patients’ upper and lower limbs, is proposed. It can electrically adjust the body shape of patients with a different weight and height. Firstly, the innovative mechanism design of the lower limb rehabilitation training module is studied. Then, the mechanism of the lower limb rehabilitation module is simplified and the geometric relationship of the human–machine linkage mechanism is deduced. Next, the trajectory planning and dynamic modeling of the human–machine linkage mechanism are carried out. Based on the analysis of the static moment safety protection of the human–machine linkage model, the motor driving force required in the rehabilitation process is calculated to achieve the purpose of rationalizing the rehabilitation movement of the patient’s lower limb. To reconstruct the patient’s motor functions, an active training control strategy based on the sandy soil model is proposed. Finally, the experimental platform of the proposed robot is constructed, and the preliminary physical experiment proves the feasibility of the lower limb rehabilitation component. |
| first_indexed | 2024-03-10T06:26:57Z |
| format | Article |
| id | doaj.art-79c37ede7fae4a76ae5cab8416931299 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T06:26:57Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-79c37ede7fae4a76ae5cab84169312992023-11-22T18:54:20ZengMDPI AGMachines2075-17022021-09-0191022410.3390/machines9100224Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke PatientsXusheng Wang0Yongfei Feng1Jiazhong Zhang2Yungui Li3Jianye Niu4Yandong Yang5Hongbo Wang6Academy for Engineering & Technology, Fudan University, Shanghai 200433, ChinaFaculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, ChinaFaculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaAcademy for Engineering & Technology, Fudan University, Shanghai 200433, ChinaCarrying out the immediate rehabilitation interventional therapy will better improve the curative effect of rehabilitation therapy, after the condition of bedridden stroke patients becomes stable. A new lower limb rehabilitation training module, as a component of a synchronous rehabilitation robot for bedridden stroke patients’ upper and lower limbs, is proposed. It can electrically adjust the body shape of patients with a different weight and height. Firstly, the innovative mechanism design of the lower limb rehabilitation training module is studied. Then, the mechanism of the lower limb rehabilitation module is simplified and the geometric relationship of the human–machine linkage mechanism is deduced. Next, the trajectory planning and dynamic modeling of the human–machine linkage mechanism are carried out. Based on the analysis of the static moment safety protection of the human–machine linkage model, the motor driving force required in the rehabilitation process is calculated to achieve the purpose of rationalizing the rehabilitation movement of the patient’s lower limb. To reconstruct the patient’s motor functions, an active training control strategy based on the sandy soil model is proposed. Finally, the experimental platform of the proposed robot is constructed, and the preliminary physical experiment proves the feasibility of the lower limb rehabilitation component.https://www.mdpi.com/2075-1702/9/10/224synchronous rehabilitation robot for upper and lower limbshuman–machine linkage mechanismbedridden stroke patientactive training control strategy |
| spellingShingle | Xusheng Wang Yongfei Feng Jiazhong Zhang Yungui Li Jianye Niu Yandong Yang Hongbo Wang Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients Machines synchronous rehabilitation robot for upper and lower limbs human–machine linkage mechanism bedridden stroke patient active training control strategy |
| title | Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients |
| title_full | Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients |
| title_fullStr | Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients |
| title_full_unstemmed | Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients |
| title_short | Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients |
| title_sort | design and analysis of a lower limb rehabilitation training component for bedridden stroke patients |
| topic | synchronous rehabilitation robot for upper and lower limbs human–machine linkage mechanism bedridden stroke patient active training control strategy |
| url | https://www.mdpi.com/2075-1702/9/10/224 |
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