Abstract
This project focuses on the design of one robot to help long-time bedridden patients complete their daily leg rehabilitation training while lying in bed. Based on an analysis of many rehabilitation training modes and integrated with a traditional Chinese medicine (TCM) massage technique, a new horizontal lower limb rehabilitation training robot with four degrees of freedom is presented in this paper. The mechanical structural design, kinematic calculation and control system are introduced in detail. A robot prototype is fabricated and rehabilitation training experiments are carried out. The experimental results show that the robot can satisfy the requirements of a variety of rehabilitation training modes and has a certain degree of rehabilitation effectiveness.
Highlights
With the rapid development of robotics, a robot for rehabilitation treatment has become a focal area of frontier technology in the medical industry
The horizontal lower limb rehabilitation training robot is suitable for patients whose lower limb strength is too weak for them to stand and walk
For different patients with unequal lower limb dimensions, the robot needs to have a different range of motion; patients’ joint motion angles remain the same
Summary
With the rapid development of robotics, a robot for rehabilitation treatment has become a focal area of frontier technology in the medical industry. With feedback provided by multiple sensors, complex rehabili‐ tation training can be achieved [8] This type of robot primarily includes the Turkey Yildiz Technical University/ Physiotherabot [17], the Swiss Federal Institute of Technol‐ ogy in Lausanne/Motion Maker [18], the Japan Yaskawa/ TEMLX2 typeD [19], the France/Closed muscular chain lower limbs rehabilitation device [20], the University of Abertay Dundee/NeXOS [21], the Yanshan University/ Sitting & lying styles lower limbs rehabilitation robot [22], the Shanghai Jiaotong University/Lower limbs rehabilita‐ tion robot [23] and the HeFei University of Technology/ Lying style lower limbs rehabilitation robot [24]. The treatment action remains consistent; the robot can effectively inhibit the lower limb muscle tension, thereby facilitating mus‐ cles to produce a harmonious contraction and coordi‐ nated movement
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