Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot
Wang, H.; Shi, X.; Liu, H.; Li, L.; Hou, Z.; Yu, H.
Dr Hongnian Yu H.Yu@napier.ac.uk
This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot has the feature that three rotary joints consist of three crank rocker mechanisms with an identical module. The paper covers mechanism design and optimization, kinematics analysis and trajectory planning, motion simulation, the control system design, and experiments. The simulation and experimental results demonstrate that the proposed rehabilitation robot is safe and reliable with the effective design and better kinematic performance.
Wang, H., Shi, X., Liu, H., Li, L., Hou, Z., & Yu, H. (2011). Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(6), 860-872. https://doi.org/10.1177/0959651811408978
|Journal Article Type||Article|
|Online Publication Date||Jul 18, 2011|
|Deposit Date||Jun 18, 2022|
|Journal||Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering|
|Peer Reviewed||Peer Reviewed|
|Keywords||lower-limb rehabilitation robot, design, kinematics, simulation, experiment|
You might also like
Guest Editorial: Special issue on recent developments in advanced mechatronics systems