Structure design and simulation on bionic lower extremity rehabilitation robot

Lower extremity exoskeleton rehabilitation robot is one of the focus in the field of robotics developed to help physical therapists complete rehabilitative therapy. However, the traditional rehabilitation robot cannot fit specific human body structure parameters well very, which may reduce the rehabilitation effect. To overcome this problem, this paper mainly discusses the Design and Simulation on a new bionic lower extremity rehabilitation robot. Firstly, a three-dimension model has been established in SolidWorks. Secondly the kinematic analysis has been made. Then, the model has been imported into ADAMS to verify the correctness of the analysis by simulation. At last, based the PID control system and the simulation model created in ADAMS, the union simulation by ADAMS and Matlab has been created to verify its control performance. The union simulation shows that this rehabilitation robot can follow the designed trajectory with good stability and smaller control difficulty.

[1]  Manfred Morari,et al.  Automatic gait-pattern adaptation algorithms for rehabilitation with a 4-DOF robotic orthosis , 2004, IEEE Transactions on Robotics and Automation.

[2]  Can-Jun Yang,et al.  Adaptive Knee Joint Exoskeleton Based on Biological Geometries , 2014, IEEE/ASME Transactions on Mechatronics.

[3]  Gong Chen,et al.  A review of lower extremity assistive robotic exoskeletons in rehabilitation therapy. , 2013, Critical reviews in biomedical engineering.

[4]  Yang Wang,et al.  Lower limb rehabilitation robot , 2009, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots.

[5]  Aaron M. Dollar,et al.  Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art , 2008, IEEE Transactions on Robotics.

[6]  Yeong Jin King,et al.  Lower Extremity Exoskeleton: Review and Challenges Surrounding the Technology and its Role in Rehabilitation of Lower Limbs , 2013 .

[7]  Martin Buss,et al.  Compliant actuation of rehabilitation robots , 2008, IEEE Robotics & Automation Magazine.

[8]  Robert Riener,et al.  Locomotor training in subjects with sensori-motor deficits: An overview of the robotic gait orthosis lokomat , 2010 .

[9]  Adam Zoss,et al.  On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  F. Reynard,et al.  The WalkTrainer—A New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation , 2009, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[11]  Sunil Kumar Agrawal,et al.  Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Volkan Patoglu,et al.  A self-adjusting knee exoskeleton for robot-assisted treatment of knee injuries , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Kevin J Deluzio,et al.  Knee and hip kinetics during normal stair climbing. , 2002, Gait & posture.

[14]  Frans C. T. van der Helm,et al.  A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots , 2006, Int. J. Robotics Res..

[15]  R. Riener,et al.  Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[16]  Slavka Viteckova,et al.  Wearable lower limb robotics: A review , 2013 .

[17]  Shin-ichiroh Yamamoto,et al.  Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers , 2014, Robotics.

[18]  Reymond Clavel,et al.  The WalkTrainer: A Robotic System for Walking Rehabilitation , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.