Book ChapterDOI
Robust Operational-Space Motion Control of a Sitting-Type Lower Limb Rehabilitation Robot
Santhakumar Mohan,Jayant Kumar Mohanta,Laxmidhar Behera,Larisa Rybak,Dmitry Malyshev +4 more
- pp 161-172
TLDR
A robust motion control of a sitting-type lower limb rehabilitation robot (LLRR) in its operational-space based on a double-loop control approach is presented along with its closed-loop system stability analysis.Abstract:
This paper presents a robust motion control of a sitting-type lower limb rehabilitation robot (LLRR) in its operational-space. The mathematical background of the proposed robot is discussed and its motion control design in the task-space based on a double-loop control approach is derived herein along with its closed-loop system stability analysis. The motion tracking performance analysis of the proposed scheme is demonstrated using computer based numerical simulations. For numerical simulations and to validate the effectiveness of the motion control strategy, the clinically obtained test gait data is used for the desired motion trajectory of the lower limb rehabilitation robot.read more
Citations
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Book ChapterDOI
Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data
TL;DR: Effective numerical methods and algorithms were developed and tested that made it possible to determine the minimum geometric parameters of the active parallel mechanism that ensure the movement of the passive orthosis within the workspace under clinical data when simulating walking.
Journal ArticleDOI
Design of mechanisms of a robotic system for rehabilitation of the lower limbs
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.
Journal ArticleDOI
Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation
TL;DR: In this paper , an optimized model of rehabilitation systems based on a cable-actuated robot for rehabilitation of patients with impaired motor function of upper and lower limbs is discussed, and the positions of cable-driven actuators are determined such that the cables do not touch the patient's body.
References
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Book
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Journal ArticleDOI
Determination of 6D Workspaces of Gough-Type Parallel Manipulator and Comparison between Different Geometries
TL;DR: Algorithms are presented to determine all the possible locations of the center of the platform that can be reached with a fixed orientation and the inclusive orientation workspace, which shows that for robots of similar dimensions the joints layout has a large influence on the workspace volume.
Journal ArticleDOI
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TL;DR: Caution is advised in using the data to attempt to predict an individual's gait parameters due to the wide spread of data about the regression lines and it is not recommend that the data be used to extrapolate the regression data to wider speed ranges.
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