A new gravity compensation mechanism for lower limb rehabilitation

This paper proposes a new mechanical gravity compensation mechanism suitable for the wearable lower limb rehabilitation system. Although the previous gravity compensation systems can also compensate the gravitational moment exerting on each joint perfectly, they are not sufficiently safe if they are...

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Bibliographic Details
Published in2009 International Conference on Mechatronics and Automation pp. 943 - 948
Main Authors Nakayama, Takayuki, Araki, Yousuke, Fujimoto, Hideo
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.08.2009
Subjects
Computer simulation
Gears
Gravity
gravity compensation
Humanoid robots
Leg
mechanical structure
Mechatronics
Muscles
passive system
rehabilitation aid
Springs
Surgery
Wires
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ISBN1424426928
9781424426928
ISSN2152-7431
DOI10.1109/ICMA.2009.5246352

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Summary:This paper proposes a new mechanical gravity compensation mechanism suitable for the wearable lower limb rehabilitation system. Although the previous gravity compensation systems can also compensate the gravitational moment exerting on each joint perfectly, they are not sufficiently safe if they are applied to the wearable rehabilitation systems because the springs and wires must be barely stretched between the limbs over the joints. In the proposed system, the mechanisms to generate the gravity compensation torques are totally embedded in the link body, so that it can be said that the proposed gravity compensation systems are safer than previous ones. The gravity compensation ability of the proposed mechanism and the effectiveness of the proposed system as a lower limb rehabilitation system are examined by some computer simulations and experiment using the actual equipment.
ISBN:1424426928
9781424426928
ISSN:2152-7431
DOI:10.1109/ICMA.2009.5246352