Design and Optimization of Movable Cable-Driven Lower-Limb Rehabilitation Robot

In order to help patients with lower-limb dysfunction, a movable cable-driven lower-limb rehabilitation robot was designed to restore their motor function and improve their quality of life. Through controlling the position / posture and force of the lower limb, the robot can achieve comprehensive tr...

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Bibliographic Details
Published in2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) pp. 714 - 719
Main Authors Zou, Yupeng, Liu, Kai, Wang, Nuo, Li, Junqing, Geng, Xiaohu, Chang, Kuntang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2018
Subjects
cable-driven
configuration optimization
Exoskeletons
Force
lower limb rehabilitation
Petroleum
Rehabilitation robotics
Robot kinematics
Training
workspace
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Summary:In order to help patients with lower-limb dysfunction, a movable cable-driven lower-limb rehabilitation robot was designed to restore their motor function and improve their quality of life. Through controlling the position / posture and force of the lower limb, the robot can achieve comprehensive trainings of the lower limbs. The robot can assist patients in different rehabilitation stages to carry out rehabilitation training with passive, assistant and active mode. The kinematics modeling, statics modeling and workspace analysis were worked out, and the robot configurations were analyzed and optimized based on these. Continuous cable tension was worked out based on the 2-norm of the cable tension optimization algorithm as well. The foundation for subsequent research work of parallel cable-driven lower-limb rehabilitation robot was laid in this paper, which had reference significance for the research of flexible medical rehabilitation equipment.
DOI:10.1109/ICARM.2018.8610872