Research on Safety and Compliance of a New Lower Limb Rehabilitation Robot
| Autor: | Xincheng Wang, Luige Vladareanu, Hao Yan, Yongfei Feng, Hongbo Wang, Jin Zhennan |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
030506 rehabilitation
0209 industrial biotechnology medicine.medical_specialty Engineering lcsh:Medical technology Article Subject Biomedical Engineering Health Informatics 02 engineering and technology Workspace Sitting 03 medical and health sciences 020901 industrial engineering & automation Physical medicine and rehabilitation medicine Humans Exoskeleton Device Range of Motion Articular Simulation lcsh:R5-920 Mechanism design business.industry Stroke Rehabilitation Robotics Exercise Therapy body regions Lower Extremity lcsh:R855-855.5 Impedance control Robot Surgery Artificial intelligence Safety lcsh:Medicine (General) 0305 other medical science business Range of motion Research Article Biotechnology |
| Zdroj: | Journal of Healthcare Engineering, Vol 2017 (2017) Journal of Healthcare Engineering |
| ISSN: | 2040-2309 2040-2295 |
| DOI: | 10.1155/2017/1523068 |
| Popis: | The lower limb rehabilitation robot is an application of robotic technology for stroke people with lower limb disabilities. A new applicable and effective sitting/lying lower limb rehabilitation robot (LLR-Ro) is proposed, which has the mechanical limit protection, the electrical limit protection, and the software protection to prevent the patient from the secondary damage. Meanwhile, as a new type of the rehabilitation robots, its hip joint rotation ranges are different in the patient sitting training posture and lying training posture. The mechanical leg of the robot has a variable workspace to work in both training postures. So, if the traditional mechanical limit and the electrical limit cannot be used in the hip joint mechanism design, a follow-up limit is first proposed to improve the compatibility of human-machine motion. Besides, to eliminate the accident interaction force between the patient and LLR-Ro in the process of the passive training, an amendment impedance control strategy based on the position control is proposed to improve the compliance of the LLR-Ro. A simulation experiment and an experiment with a participant show that the passive training of LLR-Ro has compliance. |
| Databáze: | OpenAIRE |
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