Abstract
Most of currently rehabilitation robots cannot achieve the adduction/abduction (A/A) training of the hip joint and lack the consideration of the patient handling. This paper presents a four degrees of freedom (DOF) spatial workspace lower limb rehabilitation robot, and it could provide flexion/extension (F/E) training to three lower limb joints and A/A training to the hip joint. The training method is conducting the patient’s foot to complete the rehabilitation movement, and the patient could directly take training on the wheelchair and avoid frequent patient handling between the wheelchair and the rehabilitation device. Because patients own different joint range of motions (ROM), an analysis method for obtaining human joint motions is proposed to guarantee the patient’s joint safety in this training method. The analysis method is based on a five-bar linkage kinematic model, which includes the human lower limb. The human-robot hybrid kinematic model is analyzed according to the Denavit-Hartenberg (D-H) method, and a variable human-robot workspace based on the user is proposed. Two kinds of trajectory planning methods are introduced. The trajectory planning method and the human joint analysis method are validated through the trajectory tracking experiment of the prototype.
Highlights
As a common disease in the elderly population, stroke has a high probability of causing physical-motor disability [1,2]
This paper proposes a 4-degrees of freedom (DOF) spatial workspace rehabilitation robot, which could perform the
A 4-DOF serial-parallel hybrid lower limb rehabilitation robot with the spatial workspace is introduced in this article
Summary
As a common disease in the elderly population, stroke has a high probability of causing physical-motor disability [1,2]. The working method of parallel platforms is same as moving platforms, and parallel platforms are generally applied in ankle joint rehabilitations because the workspace is limited by parallel structures [23,24,25,26,27,28]. Because of the reliably mechanical structure and the newer working method, patients could directly do their rehabilitation training on wheelchairs without patient handling. The solution is proposing an analysis method for obtaining human joint motions. This robot could plan the trajectory depending on the of patient’s joint ROM. Sci. 2020, 10, x FOR PEER REVIEW an analysis method for obtaining human joint motions This robot could plan the trajectory depending a. Trajectory tracking experiment and thetwo result analysis are trajectory shown in the SectionFinally, trajectory tracking experiment and the result analysis are shown in the Section 4
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