Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies

Mohan, Santhakumar; Kurtenbach, Stefan; Paris, Jascha Norman; Corves, Burkhard; Huesing, Mathias

doi:10.1016/j.mechmachtheory.2017.03.001

Cited by 46 publications

(23 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The proposed device in this paper is a foot plate based sitting type rehabilitation system. The author has based his publication on the previously available commercial products such as Motion maker [17], and various other proposed ideas such as, Physiotherabot [18] Lambda [19], Supine [20], improved Lambda [21] and ANKUR-LLII [22]. The author uses parallel manipulator over series manipulator considering its advantages over the later.…”

Section: Development and Control Of A New Sitting Type Lower Limb Rehmentioning

confidence: 99%

Recent Advancements in Robot Assisted Lower Limb Rehabilitation Techniques

N¹,

Tjprc²

2019

IJMPERD

View full text Add to dashboard Cite

Lower limb joint injuries are very common and are caused due to several reasons. In many cases, either after surgical procedure or even without it, rehabilitation is a highly important and necessary process. Rehabilitation is defined as 'the act of restoring someone's health to normalcy after a period of discomfort through exercise and therapy to improve their quality of life'. Rehabilitation can be of two types broadly -active and passive. Active rehabilitation techniques involve the patients to directly perform special exercises such as stretching, bending and folding taught by physical therapists. Passive techniques include some form of assistance which may be provided either manually by the therapist or by special machines designed to assist rehabilitation. Manual physiotherapy is not usually recommended immediately after trauma or procedure and robotic rehabilitation machines are used in the initial stages because of their safety of operation and angle precision. The purpose of this paper is, to review the recent advancements and innovationsin this area. The robot-assisted motor rehabilitation is proven to be better than manual rehabilitation in many ways but in cases, where there are budget constraints, they may not be considered. The clinically viable methods that have been presented in literature are discussed in this paper and also possible suggestions for future developments in the same area are proposed.

show abstract

Section: Development and Control Of A New Sitting Type Lower Limb Rehmentioning

confidence: 99%

Recent Advancements in Robot Assisted Lower Limb Rehabilitation Techniques

N¹,

Tjprc²

2019

IJMPERD

View full text Add to dashboard Cite

show abstract

“…8 A Golgouneh et al 9 introduced a new, light, and portable mechanism to achieve continuous passive motion (CPM) training for knee joint while the patient is lying. S Mohan et al 10 developed a vertical planar 2PRP-2PPR parallel manipulator along with serial planar RRR passive orthosis as a lower limb rehabilitation robot in the sitting/lying position. A stationary lower limb rehabilitation robot for hip, knee, and ankle joints has been introduced by Eiammanussakul and Sangveraphunsiri.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient’s limb

Almaghout

Tarvirdizadeh

Alipour

et al. 2020

Proc Inst Mech Eng H

View full text Add to dashboard Cite

This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dynamic models of the knee and ankle rehabilitation robot are derived. Furthermore, a super-twisting nonsingular terminal sliding mode control is developed to achieve the desired training missions and its results are compared with those of an adaptive sliding mode control. To reduce undesired interaction torques between knee and ankle rehabilitation robot and patient, an admittance control algorithm is added to the controller to guarantee a safe therapy session. The admittance super-twisting nonsingular terminal sliding mode control structure is considered as the novelty of this article. Taking into account the dynamic uncertainties, external disturbances, and the interaction torques, the validity of the admittance super-twisting nonsingular terminal sliding mode control controller is approved by various numerical simulations over the admittance adaptive sliding mode control.

show abstract

“…3,4 Many rehabilitation robots have been devised in recent years. [5][6][7][8][9][10][11][12][13][14][15][16] Mehmet Arif Adli proposed a therapeutic exercise robot for knee and hip rehabilitation. 5 This robot owned flexion-extension degree of freedom in knee joint, flexion-extension and abduction-adduction degrees of freedom in hip joint.…”

Section: Introductionmentioning

confidence: 99%

“…6 Mohan et al devised a vertical planar 2PRP-2PPR robot for lower limb rehabilitation. 7 In their research, system dynamics was derived and a robust controlling scheme using non-singular fast terminal sliding mode control along with a nonlinear disturbance observer was proposed for the robot.…”

Section: Introductionmentioning

confidence: 99%

An Rehabilitation Robot Driven by Pneumatic Artificial Muscles

Zhong

Zhao

et al. 2020

J. Mech. Med. Biol.

View full text Add to dashboard Cite

Rehabilitation robots are playing an important role in restoring movement ability of hemiplegic patients. However, most of these robots adopt motors as actuators. Considering human body is a flexible organism, rigid motors lack compliance when getting in touch with patients. This paper designs an ankle rehabilitation robot by employing pneumatic muscle actuators which are soft and have similar compliance with biological muscles. Analysis of motion characteristics of human ankle is performed, and relationship between angle and torque of human ankle acquired from experiment is studied. Driving mechanism using pneumatic muscle actuators is addressed carefully and ankle-rehabilitation robot is designed. Then, dynamics of the robot is established and structure optimization of the driving mechanism is performed. Consequently, prototype is manufactured and assembled.

show abstract

Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies

Cited by 46 publications

References 27 publications

Recent Advancements in Robot Assisted Lower Limb Rehabilitation Techniques

Recent Advancements in Robot Assisted Lower Limb Rehabilitation Techniques

Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient’s limb

An Rehabilitation Robot Driven by Pneumatic Artificial Muscles

Contact Info

Product

Resources

About