Trajectory planning of a novel lower limb rehabilitation robot for stroke patient passive training

Abstract

A new applicable sitting/lying lower limb rehabilitation robot is proposed to help stroke patients. It can realize the sitting/lying training postures to fit people in all the rehabilitation stages. Based on the modularization design, the movable seat can be separated from and grouped into the lower limb rehabilitation robot, which is convenient for patients to sit down. As the most important part of lower limb rehabilitation robot, the mechanical leg design theory is introduced in detail. According to the physician clinical suggestions, a new trajectory planning method is proposed based on the dual quartic polynomial interpolation method. It could realize the adjustment of each joint maximum velocity during the training on account of patient recovery. The accelerations of the joints at target position equal zero, which will reduce impact loads on the patients damaged leg. Also, the dwell time the joints staying at the target angular positions can be increased. Those advantages make the lower limb rehabilitation robot more suitable for stroke patient passive training. Combined with the virtual reality technique, a specific motion-playback scene is designed to improve the patient enthusiasm in the training. Finally, a preliminary experimental trial has been conducted to demonstrate the design of the prototype, the motion-playback scene, and the trajectory planning method feasible.

Intelligent Parametric Adaptive Hybrid Active–Passive Training Control Method for Rehabilitation Robot

“…The results show that the hybrid active-passive training control scheme proposed in this paper can adjust the joint training speed according to the changes in the interaction forces between the patient and the mechanical leg and effectively sense the patient's joint motion. The previous research [5] proposed a passive training trajectory planning method, which did not consider the patient's participation during the training process and could not adjust the passive training parameters according to the patient's actual motor ability. The paper [15] proposed to use the potential field method and ADRC position control to plan the trajectory and assist the patient in training, which required the patient to have a certain movement ability to complete the training.…”

“…Various devices have also been developed. Examples include the standing lower limb rehabilitation robots Lokomat [2], ReWalk [3], and Ailegs [4], and the sitting/lying lower limb rehabilitation robots Motion Maker [5,6], LR2 [7], LRR-Ro [8]. These rehabilitation robots can provide passive training, active training, and assisted training.…”

“…Lower limb training in a sitting/lying position reduces the load of body weight on the hip and leg, improves the stability of the patient's rehabilitation, and increases the range of motion of the lower limb joints [1,2]. The Federal Institute of Technology of Lausanne in Switzerland made a sitting/lying lower limb rehabilitation robot, MotionMaker [3,4], and Yanshan University developed a lower limb rehabilitation robot, LRR-Ro [5,6], unilateral with three degrees of freedom to help the patient with passive training and active motor training. However, it can be difficult to adapt rehabilitation training parameters for different individuals.…”

sEMG-Based Gain-Tuned Compliance Control for the Lower Limb Rehabilitation Robot during Passive Training

“…Li et al designed a lower limb exoskeleton rehabilitation robot which can assist the patient in carrying out gait training [ 11 ]. Feng et al designed a lower limb rehabilitation robot for passive training of stroke patients, and the moving seat can be adjusted or separated from the robot to meet the rehabilitation demands of patients at different stages [ 12 ]. Akdoğan et al produced a therapeutic exercise robot Physiotherabot, which can perform active and passive movements and learn specific exercise movements [ 13 ].…”

Design and Isokinetic Training Control Method of Leg Press Training Device

“…It is only used for high-intensity constant impedance resistance training, which is heavy, expensive, and not suitable for the elderly or rehabilitative patients [17,18]. The third is a pneumatic rehabilitation training machine, such as a Finnish firm's product, which is used in various forms of resistance training but is expensive and lacks power, thus it is unable to adequately provide active and passive training [19][20][21].…”