Parallel Robot for Lower Limb Rehabilitation Exercises

Rastegarpanah, Alireza; Saadat, Mozafar; Borboni, Alberto

doi:10.1155/2016/8584735

Cited by 31 publications

(14 citation statements)

References 33 publications

(33 reference statements)

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“…He is able to obtain information on the angular changes of the joints of the limbs, and the collected motion data information can be communicated with the computer in real time. (11) α(t) is the rotational acceleration at any time, ω(t) is the rotational speed at any time. (12) θ(t) is the Euler angle at any time.…”

Section: B Comparative Experimental Analysismentioning

confidence: 99%

Feature Evaluation of Upper Limb Exercise Rehabilitation Interactive System Based on Kinect

Wang

Liu²,

Lan

2019

IEEE Access

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The virtual rehabilitation system combining virtual rehabilitation environment and upper limb rehabilitation technology is interactive and interesting, which can improve the enthusiasm and initiative of patients for rehabilitation training, improve the efficiency of rehabilitation training and improve the effect of rehabilitation treatment. This paper firstly conducts in-depth research and analysis on the research progress of the upper limb rehabilitation robot system, and deeply studies the principle and rehabilitation principle of the stroke caused by hemiplegic dyskinesia, and summarizes the goals and methods of the upper limb rehabilitation system design. Secondly, the hand motion tracking is realized by Kinect's bone tracking, and the optimal tracking distance is determined experimentally, which verifies the stability and robustness of the tracking. Static gesture recognition adopts two gesture recognition schemes based on Kinect depth image and color space model respectively. Finally, using the rehabilitation robot and Kinect sensor as the hardware platform, the virtual rehabilitation training system experimental platform is constructed, and the horizontal rehabilitation exercise and the three-dimensional space rehabilitation exercise are respectively studied experimentally, and the exercise data obtained by using healthy subjects as the experimental object is analyzed. Based on this, the validity and feasibility of the Kinect-based upper limb exercise rehabilitation interactive system were verified.

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Section: B Comparative Experimental Analysismentioning

confidence: 99%

Feature Evaluation of Upper Limb Exercise Rehabilitation Interactive System Based on Kinect

Wang

Liu²,

Lan

2019

IEEE Access

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“…2. Existen muchos diseños de robots paralelos desarrollados para la rehabilitación del miembro inferior del ser humano, por ejemplo, existe el modelo de tipología 3-PRE de 3 grados de libertad [5], también se encuentra un modelo 6-UPU de 6 grados de libertad, que presenta la forma de un antiprisma triangular [6].…”

Section: A Robot 3upe-rpuunclassified

“…En los últimos años los robots paralelos empezaron a ser empleados en el campo de la medicina, donde se han desarrollado varios proyectos en el área de la rehabilitación del miembro inferior [5], [6] los cuales emplean robots paralelos de 3 y 6 grados de libertad respectivamente, que recrean rutinas de movimientos para este proceso de rehabilitación. El desarrollo de estos modelos ha llegado hasta la construcción de prototipos y la realización de pruebas, las cuales según sus autores mostraron resultados positivos.…”

Section: Introductionunclassified

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

Morales¹,

Baño²,

Zambrano³

et al. 2018

Proceedings of the 16th LACCEI International Multi-Conference for Engineering, Education, and Technology: “Innovation in Educat

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This ARTICLE aims to design and build a robot that is able to assist with the rehabilitation treatments of the lower limb. The robot has a mobility of 4 degrees of freedom, two movements of translation and two of rotation, these degrees of freedom are considered based on the flexo-extension movements and internal and external rotation of the lower limb. In the kinematic analysis, the developed equations are characterized by studying the kinematic chain of each element of the robot (arms and platform) separately, through the Denavit & Hartenberg methods and the Euler rotation angles respectively, describing the positions which adopt the joints of each arm separately, and then establish the relationships between each of them. The expressions describing the velocity and acceleration of each element of the robot are derived from the position equations founded. For the validation of results a program is presented which is able to simulate the movements of the robot and show the relation between the positions of the articulations of the arms of the robot and the position of the platform in the space; the results founded through this program show that there is a negligible difference between the positions of the vertices of the platform and the ends of the arms of the robot, when making any movement.

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“…Swiss Federal Institute of Technology in Zurich developed the Lokomat LLRR, 6 in which the wearing device with 4 rotational DoFs is used to drive the legs of the trainers to achieve gait movement, but the whole mechanism was complex and expensive. The University of Birmingham developed a 6-DoF parallel robot to perform various rehabilitation exercises, 7,8 which can simulate different foot trajectories. The research of this aspect in China also made some progress: Harbin Engineering University developed the equipment using a parallel mechanism control pedal to achieve the stepping, 9 which can meet the different needs of various movements of the lower extremity, but the mechanism is large.…”

Section: Introductionmentioning

confidence: 99%

The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot

Wang

Yin

Yang

et al. 2018

Advances in Mechanical Engineering

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At present, in view of the question that the general lower limb rehabilitation training robot is only achieving motion training of lower limb's flexion and extension. A kind of the lower limb rehabilitation robot is conceived which can achieve lower limb adduction or abduction and internal or external rotation in sports training, and it is aimed to research the robot's structure and motion planning. When analyzing the typical movement forms of the lower limb, the relation of man-machine coordinated movement is also considered. A kind of lower limb rehabilitation training robot is conceived, which consists of the rigid mobile device and the flexible drive system. The influence coefficient method is used to analyze the kinematics of the robot. According to the rehabilitation training of man-machine cooperation relations, the trajectory planning strategy is studied. A robot configuration that meets the needs of rehabilitation motion trajectory planning is drawn by setting the parameters of the robot mechanism and simulation. According to the trajectory of the training program, the simulation analysis of the state of wire movement is carried out. The experimental study of adduction and abduction of the lower extremities was carried out, proving the effectiveness of robot mechanism.

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Parallel Robot for Lower Limb Rehabilitation Exercises

Cited by 31 publications

References 33 publications

Feature Evaluation of Upper Limb Exercise Rehabilitation Interactive System Based on Kinect

Feature Evaluation of Upper Limb Exercise Rehabilitation Interactive System Based on Kinect

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot

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