Parallel assistive robotic system for knee rehabilitation: kinematic and dynamic modeling validation

Guatibonza, Andres; Solaque, Leonardo; Velasco, Alexandra

doi:10.1080/03091902.2022.2081880

Cited by 3 publications

(3 citation statements)

References 18 publications

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“…The equations were developed and solved using Python software and thereby the constant term values were determined. The obtained constant values are substituted in Equation (4). The developed mathematical model will serve as a foundation for developing rehabilitation-related assistive technology.…”

Section: Discussionmentioning

confidence: 99%

“…The objective of rehabilitation engineering is to create advanced assistive devices that offer technological support to individuals with disabilities. The advancement of intelligent assistive devices aims to reduce the reliance of disabled individuals on others for their daily tasks, thereby encouraging their reintegration into society [4][5][6]. Given the complex and nonlinear equations governing human motion, muscle dynamics, and interactions with the ground, analyzing human gait poses a challenging biomechanical problem [7,8].…”

Section: Introductionmentioning

confidence: 99%

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Analyzing Lower Limb Dynamics in Human Gait Using Average Value-Based Technique

Sunny,

Sivanandan,

Parameswaran

et al. 2024

Mathematical Problems in Engineering

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The motivation of this study is to develop effective and economical assistive technologies for people with physical disabilities. The novelty in this manuscript is the application of the average value-based technique to accurately represent the involved biomechanics of the lower limb joints during the human gait cycle. This mathematical formulation of lower limb joints’ biomechanics forms the first objective for modeling and final exoskeleton prototype development. To account for modeling the characteristics of human locomotion, the nth-order linear differential equation with constant coefficients is considered with appropriate modification. The physical characteristics of an individual are represented by the constant coefficients (P0, P1, P2, and P3) of the modified infinite series, which are obtained by processing experimental data collected using an optical technique. The differential terms of the infinite series are replaced by difference terms (δbavg, δ2bavg, and δ3bavg) since the data were captured as a set of digital values. The work presented here is based on the experimental results of individuals suitably categorized according to their physical nature like age and other physical structure. The optically monitored positional values of the lower limb joints of the individual subjects while they are completing the gait cycles are used for getting values of different terms of the model. The data collected through the conduct of experiments are used for finding the values of the terms of the differential equation. The model is effectively validated through experimental results. It was determined that the representation’s accuracy fell within the ±5% acceptable tolerance limit. The model is prepared for healthy as well as disabled persons, through which the disability is quantified. The resulting model can be used to develop assistive devices for people with physical disabilities. This results in the rehabilitation process and thereby helps the reintegration into society, subsequently allowing them to lead a normal life.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Analyzing Lower Limb Dynamics in Human Gait Using Average Value-Based Technique

Sunny,

Sivanandan,

Parameswaran

et al. 2024

Mathematical Problems in Engineering

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“…At the same time, active training can also carry out individualized treatment according to the specific situation of patients to make the rehabilitation effect more significant, and the recovery in the later stage of rehabilitation accounts for the main part. However, there are few studies on the actual movement of lower limbs in active training, and the actual movement law of lower limbs in the rehabilitation training process is very important to analyze the actual law of limb movement, improve the rehabilitation effect and optimize the training program [19, 20]. Shao et al [21] measured the joint angle and angular velocity motion data through the lower limb rehabilitation training simulation and compared with the actual measured lower limb motion data during normal walking, which verified the reliability of the lower limb rehabilitation training simulation.…”

Section: Introductionmentioning

confidence: 99%

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

Sun,

Hu,

Gao

et al. 2024

Robotica

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In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.

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