Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Wang, Keyi; Wang, Yanlin; Yin, Pengcheng

doi:10.1177/09544062211020344

Cited by 3 publications

(5 citation statements)

References 29 publications

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“…As can be seen from Figure 11, the motion trend of doctor-side and patient-side is similar, both are in the workspace. In addition, it is also observed that the maximum tracking error between doctor-side and patient-side is 45.09 mm, which is smaller than that proposed by Wang et al 22 The tracking error is caused by the asymmetry of the bilateral structure and the difference of the human leg model, and the force and motion are transmitted using cable. Taking all the above factors into account, this shows that the bilateral system based on the IPDAM can meet the requirements of rehabilitation training and complete the rehabilitation task well, which has guiding significance and important value for the application of bilateral control strategy in lower limb rehabilitation robots.…”

Section: Experimental Studymentioning

confidence: 61%

“…Although the performance of IPDAM will change with the increase of n , the position tracking performance and tracking error will be reflected: in the case of the patient-side’s free movement, the tracking error of the IPDAM is reduced by about 5 mm compared with the unilateral PD method; in the case of non-free movement, the error of the IPDAM becomes worse, which increases about 6 mm compared with the unilateral PD method. Compared with the control strategy proposed by Wang et al, 22 its mean error of the motion trajectory of the end-effector is 54.37 mm, the maximum error of the IPDAM( n = 6) is 47.82 mm. Obviously, the position tracking performance of IPDAM is slightly better than above Wang et al proposed (Figure 9).…”

Section: Experimental Studymentioning

confidence: 82%

“…By using the double-port network model and the bilateral PD control, the good remote cooperative control between the rehabilitation physician terminal and the patient rehabilitation terminal is realized. 22 However, none of the above studies can achieve good transparency while ensuring the stability of the bilateral control system.…”

Section: Introductionmentioning

confidence: 99%

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Research on a new cable-driven lower limb rehabilitation robot with bilateral coordination control

Wang,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a new type of cable-driven lower limb rehabilitation robot (CDLLRR) based on bilateral control is proposed. Compared with the traditional rehabilitation robot, it has multiple cooperative remote rehabilitation modes of patient-therapist interaction with better safety, mechanical compliance and adaptability. Firstly, according to the characteristics of gait movement of human lower limbs and the performance requirements of the robot in therapy and rehabilitation, the overall structure, main components and assembly arrangement of the robot are designed in detail. Secondly, in order to ensure that the rehabilitation robot has excellent force transparency and system stability while still maintaining a certain position tracking, according to the performance measurement index based on the introduced bilateral control strategy, this paper proposes an improved PD controller based on Anderson method (IPDAM). Finally, the feasibility of the proposed CDLLRR and the effectiveness of the IPDAM are verified by simulation experiments.

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Section: Experimental Studymentioning

confidence: 61%

Section: Experimental Studymentioning

confidence: 82%

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Research on a new cable-driven lower limb rehabilitation robot with bilateral coordination control

Wang,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Since the sum of squares of elements (1,4), (2,4), and (3,4) in equations ( 6), (7), and ( 8) are equal, it is obtained that:…”

Section: Kinematic Inverse Solutionmentioning

confidence: 99%

“…As a new type of rehabilitation equipment, the exoskeleton rehabilitation robot could help patients with impaired extremity movement function to achieve rehabilitation training, thus reducing the labor intensity of health care workers and solving the problem of social medical resource tension. 1,2 However, the main purpose of rehabilitation training is to improve the movement range and muscle strength of the affected extremity for patients. If patients are unable to achieve the training requirements with rehabilitation robots, they miss the optimal treatment period for rehabilitation training, which affects the recovery of patients’ motor ability and reduces patients’ recognition of robot-assisted rehabilitation training.…”

Section: Introductionmentioning

confidence: 99%

Design, optimization, and analysis of a human-machine compatibility upper extremity exoskeleton rehabilitation robot

Ning

Wang

Tian

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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For rehabilitation therapy robots, the movement range, and comfort of rehabilitation are crucial to the patient’s training and recovery and are also key factors in the design and performance evaluation of rehabilitation robots. In this paper, a highly harmonized upper extremity rehabilitation robot was proposed based on the human-machine coupling system model. Meanwhile, the shoulder joint structure of the rehabilitation robot was optimized to study the workspace range of this robot, the workspace of the upper extremity rehabilitation robot was fitted based on kinematic equations and the workspace volume size for different shoulder joint angles was analyzed. Finally, the upper extremity exoskeleton rehabilitation robot prototype was used to conduct the movement range tracking experiment and human-machine compatibility experiment in healthy volunteers to verify the rehabilitation training range and movement comfort of the rehabilitation robot. The experimental results show that when the optimized upper extremity exoskeleton rehabilitation robot was used to move in the coronal plane and sagittal plane of the human body, the overlaps of the movement range of the upper extremity wrist point W and the movement range of the healthy person was 97.23% and 97.66%, respectively, while the human-machine interaction force generated during the movement was mainly concentrated in the range of 0–10 kPa, which belongs to the low-pressure range of human-machine interaction. Therefore, this upper extremity rehabilitation robot can increase the movement range of patients’ upper extremities and improve the comfort of rehabilitation training.

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A New Variable-Stiffness Body Weight Support System Driven by Two Active Closed-Loop Controlled Drives

Li,

Zhong,

et al. 2024

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Body weight support (BWS) systems are crucial in gait rehabilitation for individuals incapacitated due to injuries or medical conditions. Traditional BWS systems typically employ either static mass–rope or dynamic mass–spring–damper configurations, which can result in inadequate support stiffness, thereby leading to compromised gait training. Additionally, these systems often lack the flexibility for easy customization of stiffness, which is vital for personalized rehabilitation treatments. A novel BWS system with online variable stiffness is introduced in this study. This system incorporates a drive mechanism governed by admittance control that dynamically adjusts the stiffness by modulating the tension of a rope wrapped around a drum. An automated control algorithm is integrated to manage a smart anti-gravity dynamic suspension system, which ensures consistent and precise weight unloading adjustments throughout rehabilitation sessions. Walking experiments were performed to evaluate the displacement and load variations within the suspension ropes, thereby validating the variable-stiffness capability of the system. The findings suggest that the online variable-stiffness BWS system can reliably alter the stiffness levels and that it exhibits robust performance, significantly enhancing the effectiveness of gait rehabilitation. The newly developed BWS system represents a significant advancement in personalized gait rehabilitation, offering real-time stiffness adjustments and ongoing weight support customization. It ensures dependable control and robust operation, marking a significant step forward in tailored therapeutic interventions for gait rehabilitation.

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Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Cited by 3 publications

References 29 publications

Research on a new cable-driven lower limb rehabilitation robot with bilateral coordination control

Research on a new cable-driven lower limb rehabilitation robot with bilateral coordination control

Design, optimization, and analysis of a human-machine compatibility upper extremity exoskeleton rehabilitation robot

A New Variable-Stiffness Body Weight Support System Driven by Two Active Closed-Loop Controlled Drives

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