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

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.

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

“…At the same time, active training can also carry out individualized treatment according to the specific situation of patients to make the rehabilitation effect more significant, and the recovery in the later stage of rehabilitation accounts for the main part. However, there are few studies on the actual movement of lower limbs in active training, and the actual movement law of lower limbs in the rehabilitation training process is very important to analyze the actual law of limb movement, improve the rehabilitation effect and optimize the training program [19, 20]. Shao et al [21] measured the joint angle and angular velocity motion data through the lower limb rehabilitation training simulation and compared with the actual measured lower limb motion data during normal walking, which verified the reliability of the lower limb rehabilitation training simulation.…”

Research on Lower Limb Step Speed Recognition Method Based on Electromyography

“…The robot is a product of multidisciplinary intersection; since its birth, it has shown its unique advantages in every field, and gradually from the industry has expanded into military, medical, daily health care and other fields [ 1 ]; among them, exoskeleton robots have a broad range of application prospects in the medical health field, logistics and industrial manufacturing [ 2 , 3 , 4 , 5 , 6 ]. Particularly in the medical field, patients can complete a lot of physiological gait training with the help of the lower limb exoskeleton robot, in order to achieve the purpose of reestablishing the correct movement pattern as early as possible to participate in daily activities like healthy people [ 7 ].…”

Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton

“…Exoskeleton is a kind of intelligent wearable robot that can assist the upper or lower limbs of human movement. With the development of its technology, exoskeletons have been widely used in medical rehabilitation, logistics, and military fields [1][2][3][4][5]. Based on the structure mode, exoskeletons are divided into rigid assist [6][7][8] and flexible assist [9][10][11][12][13][14].…”