Design of mechanisms of a robotic system for rehabilitation of the lower limbs
01 Apr 2021-Vol. 1129, Iss: 1, pp 012068
TL;DR: The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the “tripteron” robot, consisting of a 3-PRRR parallel mechanism which provides the angles of rotation of all joints of the patient’s leg required for rehabilitation and a passive orthosis for supporting the limb.
Abstract: The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the "tripteron" robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient's leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.
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TL;DR: The article discusses the design of a suspended lever mechanism with elastic elements, which is used as a safety device in a robotic system for the rehabilitation of the lower limbs and suggests a new design of the device.
Abstract: The article discusses the design of a suspended lever mechanism with elastic elements, which is used as a safety device in a robotic system for the rehabilitation of the lower limbs. The article analyzes the existing mechanical structures of devices for rehabilitation, identifies the problems of operation, design, and safety systems and suggests a new design of the device. The process of reverse development of a lever mechanism scheme to ensure safety during rehabilitation of the lower limbs is presented. The design of the lever mechanism consists of movable levers connected by elastic elements. The device allows you to dampen the force during active rehabilitation. The power calculation of the lever mechanism in the rehabilitation system was carried out. The article addresses the issues present in the current mechanical designs with a brief discussion on the system architecture.
TL;DR: In this article , a structural spectrum synthesis method of the open kinematic chain is presented to reveal the varieties and design nature of the mechanism structural layout, which can be applied to the structural design of all machines, and used as the fundamentals for the following detailed and innovative structural design.
References
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TL;DR: In this paper, a three degrees of freedom therapeutic exercise robot (physiotherabot) for the lower limbs of a patient who needs rehabilitation after a spinal cord injury (SCI), stroke, muscle disorder, or a surgical operation was developed.
217 citations
TL;DR: A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed and shows that it has the following kinematic merits over previous TPMs.
Abstract: A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3-CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) The forward displacement analysis can be performed by solving a set of linear equations. (2) The Jacobian matrix of the TPM is constant. The inverse of the Jacobian matrix can be pre-calculated, and there is no need to calculate repeatedly the inverse of the Jacobian matrix in performing the forward displacement analysis and forward velocity analysis. (3) There is no rotation singularity. (4) There is no uncertainty singularity. (5) The TPM has a fewer number of links or joints. The geometric condition for a 3-CRR TPM to be isotropic is also revealed. Two additional kinematic merits exist for the isotropic 3-CRR TP...
199 citations
"Design of mechanisms of a robotic s..." refers methods in this paper
...In the rehabilitation system structure, an active 3-PRRR parallel robot of the tripteron type proposed by Kong and Gosselin [13] and a passive orthosis were used....
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20 Jul 2003
TL;DR: An overview of the 4-DOF experimental system is described, which employs a parallel wire mechanism which can be achieved with relatively low powered actuators compared with the mechanisms that use conventional rigid links to develop a rehabilitation system that carries out 6- DOF motions of hip, knee and ankle joint.
Abstract: We proposed and have been studying a multiple-DOF leg rehabilitation system which employs a wire-driven mechanism. Using a parallel wire mechanism, multiple-DOF motion can be achieved with relatively low powered actuators compared with the mechanisms that use conventional rigid links. Also, since wire-driven mechanisms are light and flexible, it makes the system human-friendly. Our eventual goal is to develop a rehabilitation system that carries out 6-DOF motions of hip, knee and ankle joint. In order to achieve this goal, we are taking a gradual approach. In earlier studies, we built and tested a single-DOF experimental system and a 2-DOF experimental system. Currently, we have built and are testing a 4-DOF experimental system. Target motions of the system are hip joint flexion/extension, hip joint abduction/adduction, hip joint external/internal rotation, and knee joint flexion/extension. In this paper, we describe an overview of the 4-DOF experimental system. We also mention experiments using the experimental system.
81 citations
19 Dec 2009
TL;DR: A concept of a parallel robot that may be used for mobilization of the lower extremities that is used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics is introduced.
Abstract: A new rehabilitation and fitness robot called the “Lambda Robot” is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics. The kinematics and the construction aspects of the twice three degrees of freedom “Lambda robot” are presented. The different configurations it deals with are discussed to point out the advantages of this structure. Finally, the control and security aspects are presented. The constructed prototype is entirely instrumented with position and force sensors at each motorized articulation. This allows controlling all the movements and the corresponding generated forces.
66 citations
"Design of mechanisms of a robotic s..." refers background in this paper
...These mechanisms include the commercially available devices for rehabilitation Motion maker [1] (Switzerland), and the Lambda mechanisms [2], the professional trainer Supine [3], NEUROBike [4], Physiotherabot [5], and AIST-Tsukuba [6]....
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01 Jan 2004
TL;DR: In this article, the LSRO2-CONF-2006-011 Record created on 2006-02-27, modified on 2017-05-10 was used for reference.
Abstract: Keywords: [MDB] Reference LSRO2-CONF-2006-011 Record created on 2006-02-27, modified on 2017-05-10
64 citations