Anzeige
Erschienen in:
2024 | OriginalPaper | Buchkapitel
Design and Analysis of a Lower Limb Rehabilitation Robot with Movement in Three-Dimensional Space
verfasst von : Long Yu, Yongfei Feng, Fangyan Dong, Hongbo Wang, Haoyu Li, Tao Shen, Dan Liang, Victor Vladareanu
Erschienen in: Advances in Emerging Information and Communication Technology
Verlag: Springer Nature Switzerland
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
This study proposes a solution to the shortage of rehabilitation physicians in China and the limited capabilities of most lower limb rehabilitation robots in addressing both sagittal and coronal rehabilitation. Specifically, a new lower limb rehabilitation robot based on a parallel structure was developed to facilitate humans’ lower limb movements in three-dimensional space through a terminal pedal. This study encompasses four aspects of content: (1) simplifying the human lower limb into a skeletal linkage mechanism to determine the maximum range of movement in a human’ sitting position and obtain the expression of lower limb kinematic equations; (2) mechanical structure design of the lower limb rehabilitation robot; (3) conducting kinematics analysis of the proposed parallel mechanism for the rehabilitation training module and obtaining the Jacobian matrix to compute the distribution of condition numbers under known parameters; and (4) conducting trajectory planning and simulation of the proposed mechanism.