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A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type
Wang, Weiqun; Hou, Zeng-Guang; Tong, Lina; Zhang, Feng; Chen, Yixiong; Tan, Min
Source PublicationMECHANISM AND MACHINE THEORY
2014-04-01
Volume74Issue:4Pages:337-353
SubtypeArticle
AbstractThis paper proposes a novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type. It consists of three joint mechanisms: hip, knee and ankle, and two sets of links: thigh and crus. Each driving motor is located close to the associated joint and the rotational axis of each joint mechanism is unique and stable. These features make it outperform the similar mechanisms in stability and dynamic performance. Different forms of eccentric slider-crank mechanisms are applied in the three joint mechanisms, respectively, such that they can be optimized independently. The optimization problems for the hip and knee joint mechanisms, characterized as strongly nonlinear, are developed respectively. Then, a particle swarm optimization algorithm is used to obtain the optimal solutions, which are subsequently validated by comprehensive comparisons. Moreover, the kinematics necessary for motion control and trajectory tracking are investigated, which denote the relationships between the displacements and velocities of the joint mechanisms, lead screws and the end effector. Finally, this paper illustrates the feasibility of the application of the leg orthosis to actual rehabilitation exercises by a simulation example. (C) 2014 Elsevier Ltd. All rights reserved.
KeywordRehabilitation Robot Leg Orthosis Optimization Kinematics
WOS HeadingsScience & Technology ; Technology
WOS KeywordSPINAL-CORD ; STROKE ; INJURY ; WALKING
Indexed BySCI
Language英语
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000332400200022
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3506
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang, Weiqun,Hou, Zeng-Guang,Tong, Lina,et al. A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type[J]. MECHANISM AND MACHINE THEORY,2014,74(4):337-353.
APA Wang, Weiqun,Hou, Zeng-Guang,Tong, Lina,Zhang, Feng,Chen, Yixiong,&Tan, Min.(2014).A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type.MECHANISM AND MACHINE THEORY,74(4),337-353.
MLA Wang, Weiqun,et al."A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type".MECHANISM AND MACHINE THEORY 74.4(2014):337-353.
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