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

Wang, Keyi; Yin, Pengcheng; Yang, Haipeng; Tang, Xiaoqiang

doi:10.1177/1687814018775865

Cited by 11 publications

(10 citation statements)

References 15 publications

(12 reference statements)

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“…Barbosa et al [18] designed a cable-driven lower limb rehabilitation robot, which is composed of a fixed base and a moving platform that can perform the individual movements training of the hip, the knee, and the ankle. Wang and Wang et al [19,20] designed a CDLR with a rigid motion branch. The movement of the rigid motion branch increases the effective workspace, maneuverability, and diversification of the training form of the rehabilitation robot.…”

Section: Introductionmentioning

confidence: 99%

Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Wang

Chai

et al. 2021

Robotica

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In order to improve the working performance of the lower limb rehabilitation robot and the safety of the trained object, the mechanical characteristics of a cable-driven lower limb rehabilitation robot (CDLR) are studied. The dynamic model of the designed CDLR was established. Four kinds of cable tension optimization algorithms were proposed to obtain a good rehabilitation training effect, and the quality of the feasible workspace of the CDLR was analyzed. Finally, a real-time evaluation index of the cable tension optimization algorithms was given to measure the calculation speed of the optimization algorithms. The numerical research results were provided to confirm the characteristics of the four kinds of the optimization algorithms. The research results provide a basis for the follow-up research on the safety and compliance control strategy of the CDLR system.

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Section: Introductionmentioning

confidence: 99%

Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Wang

Chai

et al. 2021

Robotica

Self Cite

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“…The system consists of a fixed base and a mobile platform that can connect up to six cables. Wang et al [22] designed a rehabilitation robot that can realize adduction and abduction of lower limbs, and the relationship of human-machine coordinated motion is considered. Kim et al [23] developed a four-cable traction lower-limb rehabilitation robot for auxiliary training of gait, and the kinematics of the robot was optimized.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

Zhang

Cao

2021

Applied Sciences

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In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is applied to establish the kinematic model of the robot, and the relationship between the human joint angle and the cable length change was deduced. Considering joint compliance, a fifth-order polynomial trajectory planning method based on an S-shaped curve is proposed by introducing an S-shaped velocity curve, and the changes in cable length displacement, velocity, and acceleration are simulated and analyzed. Three planning methods are compared based on two indices, and experimental verification is carried out on the rehabilitation experiment platform. The simulation and experimental results show that the trajectory planning method presents low energy consumption and strong flexibility, and can achieve better rehabilitation effect, which builds a good basis for the subsequent study of dynamics and control strategy.

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“…Wang et al. 11–14 designed a rigid-flexible hybrid cable-driven lower limb rehabilitation robot (CDLR), which introduces a rigid motion branch in gait training. It increases the workspace of the robot and improves the mobility of the system and increases the diversity of rehabilitation training at the same time.…”

Section: Introductionmentioning

confidence: 99%

Control strategy and experimental research of a cable-driven lower limb rehabilitation robot

Wang

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper aims to solve the problems of the existing limbs rehabilitation robots in terms of configuration limitations, human-machine compatibility, multimodal rehabilitation training. In addition, the control method of the cable tension of cable drive unit (CDU) loading system is studied to improve loading accuracy of cable tension and safety of the rehabilitation training robot. The novelty of this work is to propose a compound correction controller that can not only ensure the tracking accuracy of the cable-driven lower limb rehabilitation robot (CDLR) but also effectively improve the force loading accuracy of the cable tension force. Hence, this paper proposes a CDLR that can realize the active training mode, passive training mode, and assistive training mode. Firstly, the structure and working principle of CDLR is introduced. The dynamic model of the CDU loading system is established and the frequency characteristic of the CDU loading system is analyzed. In order to improve the loading accuracy and response speed of the CDU loading system, a compound correction controller is designed based on the frequency characteristics of the CDU loading system. Finally, the active force servo control experiment and the passive force servo control experiment of the CDU loading system are carried out on the experimental platform. The experimental results show that the compound correction control strategy can meet the requirements of lower limb rehabilitation training in the active force servo control experiment; the compound correction control strategy can significantly improve the loading precision and dynamic performance of the system in the passive force servo control experiment. That is, the compound correction control strategy can meet the requirements of lower limb rehabilitation training. The results provide a basis for the whole robot experiment and human-machine experiments and improve the stability of the CDLR system and patient safety.

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

Cited by 11 publications

References 15 publications

Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

Control strategy and experimental research of a cable-driven lower limb rehabilitation robot

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