Development of a exoskeleton robot for lower limb rehabilitation

Gan, Di; Qiu, Shiyuan; Zheng, Guoyan; Shi, Chunlei; Li, Zhijun

doi:10.1109/icarm.2016.7606938

Cited by 9 publications

(4 citation statements)

References 17 publications

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“…This structural framework is designed to provide a comprehensive solution to the complex and multifaceted challenges associated with dementia care. By harnessing the power of cutting-edge robotics technology and implementing a rigorous and meticulous design methodology (Wen, 2021; Gan et al , 2016), this approach represents a promising avenue for enhancing the quality of life for Alzheimer’s patients, while simultaneously alleviating the burden of care for their caregivers. Nevertheless, there exist several impediments and restrictions that must be considered before embracing these robotic interventions as a definitive solution.…”

Section: Discussionmentioning

confidence: 99%

Exploring the role of robotics in Alzheimer’s disease care: innovative methods and applications

Moshayedi,

Uddin,

Zhang

et al. 2023

RIA

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Purpose This paper aims to explore and review the potential of robotic rehabilitation as a treatment approach for Alzheimer’s disease (AD) and its impact on the health and quality of life of AD patients. Design/methodology/approach The present discourse endeavors to provide a comprehensive overview of extant scholarly inquiries that have examined the salience of inhibitory mechanisms vis-à-vis robotic interventions and their impact on patients with AD. Specifically, this review aims to explicate the contemporary state of affairs in this realm by furnishing a detailed explication of ongoing research endeavors. With the objective of elucidating the significance of inhibitory processes in robotic therapies for individuals with AD, this analysis offers a critical appraisal of extant literature that probes the intersection of cognitive mechanisms and assistive technologies. Through a meticulous analysis of diverse scholarly contributions, this review advances a nuanced understanding of the intricate interplay between inhibitory processes and robotic interventions in the context of AD. Findings According to the review papers, it appears that implementing robot-assisted rehabilitation can serve as a pragmatic and effective solution for enhancing the well-being and overall quality of life of patients and families engaged with AD. Besides, this new feature in the robotic area is anticipated to have a critical role in the success of this innovative approach. Research limitations/implications Due to the nascent nature of this cutting-edge technology and the constrained configuration of the mechanized entity in question, further protracted analysis is imperative to ascertain the advantages and drawbacks of robotic rehabilitation vis-à-vis individuals afflicted with Alzheimer’s ailment. Social implications The potential for robots to serve as indispensable assets in the provision of care for individuals afflicted with AD is significant; however, their efficacy and appropriateness for utilization by caregivers of AD patients must be subjected to further rigorous scrutiny. Originality/value This paper reviews the current robotic method and compares the current state of the art for the AD patient.

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Section: Discussionmentioning

confidence: 99%

Exploring the role of robotics in Alzheimer’s disease care: innovative methods and applications

Moshayedi,

Uddin,

Zhang

et al. 2023

RIA

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“…Thus, the robot has the advantage to be more flexible that improves the human robot interaction. Gan et al [11] developed a wearable robot that focuses on giving the patient greater freedom of movement, convenience, and balance. Kim & Bae, [12] designed an exoskeleton robot that responds to the wearer's intentions and provide the required assistance instead of restraining the patient's motions.…”

Section: Introductionmentioning

confidence: 99%

Assessment of Wearable Lower Limb Rehabilitation Robot Dynamics: A Study on ROM Training Performance

Annisa,

Mohamaddan,

Zulkifli

et al. 2023

2023 IEEE 9th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA)

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A wearable lower limb rehabilitation robot (WLLR) is one of the effective ways to assist a stroke patient who has abnormal gait. The accuracy of the dynamic model is important as it relates to the performances of the robot to track the trajectory. Error in modelling can be magnified futher resulting to poor tracking performance. However, the development of the dynamic model for WLLR is challenging because the structure is highly non-linear and heavily coupled. In this paper, a mathematical modelling for an improved design of wearable lower limb rehabilitation robot (WLLR) is presented. The Lagrangian formulation was utilized to derive the dynamic model of the hip and knee joint. Simple PID (Ziegler-Nichols) based controller was developed in order to verify the developed dynamic model. MATLAB SimMechanic software was used to simulate the WLLR motion behaviour to imitate a real environment. The results demonstrate the successful tracking of desired ranges of motion (ROM) by WLLR joints with low rise time and steady-state error. Thus, the developed dynamic model is acceptable and can be utilized for future improvement of the controller systems for WLRR.

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“…Several kinds of lower limb rehabilitation robots have been developed [7]. These can be divided into the single degree-of-freedom gait trainers [8], wearable gait trainers [9,10], suspended gait trainers [11,12,13,14], and sitting/lying gait trainers [15,16]. Switzerland has developed a suspended gait trainer, Lokomat, whose left and right mechanism legs can assist patients to simulate the walking gait of normal people and restore the control ability of the nervous system to walk [17,18].…”

Section: Introductionmentioning

confidence: 99%

New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors

Yan

Wang

Vlădăreanu

et al. 2019

Sensors

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The rehabilitation robot is an application of robotic technology for people with limb disabilities. This paper investigates a new applicable and effective sitting/lying lower limb rehabilitation robot (the LLR-Ro). In order to improve the patient’s training initiative and accelerate the rehabilitation process, a new motion intention acquisition method based on static torque sensors is proposed. This motion intention acquisition method is established through the dynamics modeling of human–machine coordination, which is built on the basis of Lagrangian equations. Combined with the static torque sensors installed on the mechanism leg joint axis, the LLR-Ro can obtain the active force from the patient’s leg. Based on the variation of the patient’s active force and the kinematic functional relationship of the patient’s leg end point, the patient motion intention is obtained and used in the proposed active rehabilitation training method. The simulation experiment demonstrates the correctness of mechanism leg dynamics equations through ADAMS software and MATLAB software. The calibration experiment of the joint torque sensors’ combining limit range filter with an average value filter provides the hardware support for active rehabilitation training. The consecutive variation of the torque sensors from just the mechanism leg weight, as well as both the mechanism leg and the patient leg weights, obtains the feasibility of lower limb motion intention acquisition.

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Development of a exoskeleton robot for lower limb rehabilitation

Cited by 9 publications

References 17 publications

Exploring the role of robotics in Alzheimer’s disease care: innovative methods and applications

Exploring the role of robotics in Alzheimer’s disease care: innovative methods and applications

Assessment of Wearable Lower Limb Rehabilitation Robot Dynamics: A Study on ROM Training Performance

New Motion Intention Acquisition Method of Lower Limb Rehabilitation Robot Based on Static Torque Sensors

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