Design of a Lower Limb Exoskeleton Rehabilitation Robot System Based on Forward Dynamics Simulation

Lower limb exoskeleton rehabilitation robots can effectively improve the rehabilitation of stroke patients and can substantially reduce the workload of rehabilitation therapists and improve work efficiency. In this paper, we propose a method to investigate the influence of muscle groups on the hip j...

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Bibliographic Details
Published in2024 IEEE International Conference on Cognitive Computing and Complex Data (ICCD) pp. 272 - 276
Main Authors Fang, Yudong, Wang, Yuefei, Zhu, Liucun, Liu, Zhen, Shi, Lei, Du, Muxin, Lin, Jianchu
Format Conference Proceeding
LanguageEnglish
Published IEEE 28.09.2024
Subjects
Assistive robots
elect romyographic signals
Exoskeletons
forward dynamics
gait cycle
Kinetic theory
Limbs
Lower limb exoskeleton rehabilitation robot
Mathematical models
MATLAB
Muscles
Optimization
Robots
stroke
Stroke (medical condition)
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Summary:Lower limb exoskeleton rehabilitation robots can effectively improve the rehabilitation of stroke patients and can substantially reduce the workload of rehabilitation therapists and improve work efficiency. In this paper, we propose a method to investigate the influence of muscle groups on the hip joint during the gait cycle through kinetic modeling simulation. The method is validated using electromyographic signals (EMG). The patients are treated according to their gait characteristics. Simulation with OpenSim; optimisation by Scone controller; joint motion change curves were analysed by Matlab simulation to verify the correctness of the mathematical model, and the simulation showed excellent following effect. The feasibility of the theory is verified, and a new scheme is proposed for the treatment of stroke patients.
DOI:10.1109/ICCD62811.2024.10843573