Synthesis of a 10-Bar Linkage to Guide the Gait Cycle of the Human Leg

Tsuge, Brandon Y.; McCarthy, J. Michael

doi:10.1115/detc2015-47723

Cited by 17 publications

(14 citation statements)

References 18 publications

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“…However, the high cost of these rehabilitation robots makes them impracticable for application at home. Therefore, several one degree of freedom (DOF) mechanisms have been proposed for rehabilitation training, such as the fourbar mechanisms proposed by Ji and Alves [6,21], the Stephenson II six-bar mechanism presented by Wang [22], the Stephenson III six-bar mechanism and the ten-bar linkage proposed by Tsuge [23,24]. Nevertheless, the limitation for these mechanisms is that the desired gait path can only be matched approximately.…”

Section: Introductionmentioning

confidence: 98%

Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation

Shao

Xiang

Liu

et al. 2016

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 98%

Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation

Shao

Xiang

Liu

et al. 2016

Mechanism and Machine Theory

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“…Nonetheless, the results of the Locomotor Experience Applied Post-Stroke (LEAPS) and the results of [1] studies suggest that continued development of the design and the purpose of these devices are required for effective gait retraining [26][27][28][29]. The robotic systems for walking rehabilitation appear as either overground or treadmill systems [30], with exoskeletons generally used, in both cases.…”

Section: Literature Reviewmentioning

confidence: 99%

Conceptual design of a rehabilitation device based on cam-follower and crank-rocker mechanisms hand actioned

Gonçalves

Soares

Carvalho

2019

J Braz. Soc. Mech. Sci. Eng.

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Several works present exoskeletons and devices acting in the hip, the knee and the ankle of patients with some kind of limitation on the lower limbs movement, aiding patients' locomotion/rehabilitation. The challenges in exoskeletons development for paraplegics' locomotion are related with obtaining a compact and low-mass design with long battery life. Furthermore, the robotic devices to lower limb rehabilitation are very expensive complex systems mainly due to the technology of servomotors, drivers and control system; thus, a simpler device tends to make patients feel more comfortable and safer, which is important to gain their acceptance. Hence, the aim of this paper is developing a new exoskeleton with one degree of freedom, low cost, to locomotion/rehabilitation of subjects with paralysis/motor disability in the lower limbs, powered by the user's strength, reproducing on them the ability to walk with stability and security. This leads to decreasing the problems related to the lack of movement and the consequent improvement in the paraplegics' life quality. The proposed device was developed using a combination of simple mechanisms to obtain the approximate human gait movement. In order to achieve the proposed objective, we present the mechanism synthesis, graphical simulations and experimental test of the simplified prototype built. The graphical simulations and the experimental results show that the proposed device performs properly on the hip and knee joints movement but with smaller amplitude.

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“…Recently, several one-DOF mechanisms have been proposed for a rehabilitation process, such as the four-bar mechanisms proposed by Alves et al [16], the Stephenson III six-bar mechanism [17], and the ten-bar linkage mechanism proposed by Tsuge and Mccarthy [18]. With the aim to overcome the limitation of such mechanisms that the desired gait path can be matched only approximately, Kay and Haws [19] proposed a cam-linkage mechanism, combining a fixed cam and a four-bar linkage to generate the desired path accurately.…”

Section: Introductionmentioning

confidence: 99%

Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

Wang

Zhang

Wang

et al. 2019

Applied Bionics and Biomechanics

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In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.

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Synthesis of a 10-Bar Linkage to Guide the Gait Cycle of the Human Leg

Cited by 17 publications

References 18 publications

Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation

Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation

Conceptual design of a rehabilitation device based on cam-follower and crank-rocker mechanisms hand actioned

Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

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