Design and Analysis of a Lower Limb Rehabilitation Training Component for Bedridden Stroke Patients

Xusheng Wang,Jiazhong Zhang,Yongfei Feng,Yungui Li,Jianye Niu,Hongbo Wang,Yandong Yang

doi:10.3390/machines9100224

Abstract

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.

Highlights

Lower limbs has a very good research value, including preventing osteoporosis, inupper and lower limbs has a very good research value, including preventing osteoporosis, creasing joint improving cardiopulmonary function increasing jointmobility, mobility,preventing preventingjoint jointcontracture, contracture, improving cardiopulmonary funcandand promoting blood circulation and paper focuses focuses on onthe the tion promoting blood circulation andrespiratory respiratoryfunction
This paper presents a synchronous rehabilitation robot for bedridden stroke patients’
The geometric relationship of the human–machine linkage mechanism is deduced and the dynamic analysis of the human–machine linkage mechanism is conducted, which provides a basis for the motor selection of the prototype

Summary

Methods

MotionAnalysisAnalysisofofHuman HumanLower LowerLimbLimbduring duringWalking WalkingForthe thelower lower limbs human body, walking, running and ascending and deFor limbs of of thethe human body, walking, running and ascending and descendscending stairs theforms main of forms of movement which play role a vital rolerehabilitation in the rehabilitaing stairs are theare main movement which play a vital in the of tion of patients their reintegration into while society, while these different of movehuman patients and theirand reintegration into society, these different forms offorms human movement are realized by walking.it is important very important formechanism the mechanism dement are realized by walking.it is very for the design sign of to analyze the specific movements of hip, knee and ankle during walking.of LLRTS to analyze the specific movements of hip, knee and ankle during walking. Forthe thelower lower limbs human body, walking, running and ascending and deFor limbs of of thethe human body, walking, running and ascending and descendscending stairs theforms main of forms of movement which play role a vital rolerehabilitation in the rehabilitaing stairs are theare main movement which play a vital in the of tion of patients their reintegration into while society, while these different of movehuman patients and theirand reintegration into society, these different forms offorms human movement are realized by walking It is important very important formechanism the mechanism dement are realized by walking. Thejoint hip plays joint plays a major role in walking, the knee plays a role in control, cushionhip a major role in walking, the knee jointjoint plays a role in control, cushioning and and and the ankle jointjoint regulates the the contact of the foot with the ground

Results

Discussion

Conclusion