A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation
Conventional lower-limb rehabilitation robots are large, complicated to wear, and require moving the patient to a designated position. To solve these problems, a new single-legged lower-limb rehabilitation robot (S-LLRR) that is easy to move and suitable for different height carriers was proposed. T...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-04-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/4/447 |
| _version_ | 1797604635003846656 |
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| author | Hongfei Yu Siyuan Zheng Jiantao Wu Li Sun Yongliang Chen Shuo Zhang Zhongzhi Qin |
| author_facet | Hongfei Yu Siyuan Zheng Jiantao Wu Li Sun Yongliang Chen Shuo Zhang Zhongzhi Qin |
| author_sort | Hongfei Yu |
| collection | DOAJ |
| description | Conventional lower-limb rehabilitation robots are large, complicated to wear, and require moving the patient to a designated position. To solve these problems, a new single-legged lower-limb rehabilitation robot (S-LLRR) that is easy to move and suitable for different height carriers was proposed. The mechanical leg has a variable working space, and its rotating joints are designed with mechanical limiters. The series configuration of the S-LLRR was analyzed, and trajectory planning was performed based on continuous linear motion training. Meanwhile, an active training control method based on the sand model was proposed to enhance the motion sensation of patients, and an active participation degree evaluation model was designed based on human physiological information. The simulation and experimental results showed that S-LLRR had a large workspace and good motion accuracy, and the accuracy of the active participation degree evaluation model could reach more than 85%. This research could provide a theoretical basis for improving the standardization and compliance of lower-limb robot rehabilitation training. |
| first_indexed | 2024-03-11T04:49:33Z |
| format | Article |
| id | doaj.art-ec2c66f868fd42cf99e0ce741e7175f0 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T04:49:33Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-ec2c66f868fd42cf99e0ce741e7175f02023-11-17T20:08:43ZengMDPI AGMachines2075-17022023-04-0111444710.3390/machines11040447A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental EvaluationHongfei Yu0Siyuan Zheng1Jiantao Wu2Li Sun3Yongliang Chen4Shuo Zhang5Zhongzhi Qin6School of Art and Design, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Art and Design, Yanshan University, Qinhuangdao 066004, ChinaSchool of Art and Design, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Art and Design, Yanshan University, Qinhuangdao 066004, ChinaSchool of Art and Design, Yanshan University, Qinhuangdao 066004, ChinaConventional lower-limb rehabilitation robots are large, complicated to wear, and require moving the patient to a designated position. To solve these problems, a new single-legged lower-limb rehabilitation robot (S-LLRR) that is easy to move and suitable for different height carriers was proposed. The mechanical leg has a variable working space, and its rotating joints are designed with mechanical limiters. The series configuration of the S-LLRR was analyzed, and trajectory planning was performed based on continuous linear motion training. Meanwhile, an active training control method based on the sand model was proposed to enhance the motion sensation of patients, and an active participation degree evaluation model was designed based on human physiological information. The simulation and experimental results showed that S-LLRR had a large workspace and good motion accuracy, and the accuracy of the active participation degree evaluation model could reach more than 85%. This research could provide a theoretical basis for improving the standardization and compliance of lower-limb robot rehabilitation training.https://www.mdpi.com/2075-1702/11/4/447lower-limb rehabilitation robottrajectory planningactive training controlactive participation |
| spellingShingle | Hongfei Yu Siyuan Zheng Jiantao Wu Li Sun Yongliang Chen Shuo Zhang Zhongzhi Qin A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation Machines lower-limb rehabilitation robot trajectory planning active training control active participation |
| title | A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation |
| title_full | A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation |
| title_fullStr | A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation |
| title_full_unstemmed | A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation |
| title_short | A New Single-Leg Lower-Limb Rehabilitation Robot: Design, Analysis and Experimental Evaluation |
| title_sort | new single leg lower limb rehabilitation robot design analysis and experimental evaluation |
| topic | lower-limb rehabilitation robot trajectory planning active training control active participation |
| url | https://www.mdpi.com/2075-1702/11/4/447 |
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