A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot

Diansheng Chen; Chenghang Pan; Xueyi Zhao; Guozhen Huang; Ying Xu; Chunxia Tang

doi:10.1109/ROBIO55434.2022.10011876

A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot

Diansheng Chen^*
, Chenghang Pan
, Xueyi Zhao
, Guozhen Huang
, Ying Xu
, Chunxia Tang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Changsha Social Work College
Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

To slow down the occurrence of diseases such as gait and balance disorders that occur with age, this paper proposes a new ten-degree-of-freedom rehabilitation training robot (SHG Robot) based on a series-parallel hybrid configuration, which can achieve three-dimensional gait training and more natural simulation of daily walking. This paper mainly proposes the configuration of the rehabilitation training robot based on the design criteria of human body characteristics and the range of motion of each joint; and analyzes the kinematics and dynamics of the three-degree-of-freedom parallel structure. The structure effectively reduces the height of the pedal, relieves the patient's fear, and has the advantages of compact structure and the like.

Original language	English
Title of host publication	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	397-402
Number of pages	6
ISBN (Electronic)	9781665481090
DOIs	https://doi.org/10.1109/ROBIO55434.2022.10011876
State	Published - 2022
Event	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, China Duration: 5 Dec 2022 → 9 Dec 2022

Publication series

Name	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Conference

Conference	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Country/Territory	China
City	Jinghong
Period	5/12/22 → 9/12/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/ROBIO55434.2022.10011876

Cite this

Chen, D., Pan, C., Zhao, X., Huang, G., Xu, Y., & Tang, C. (2022). A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot. In 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 (pp. 397-402). (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO55434.2022.10011876

@inproceedings{f242f0c94338437eb9664d1e3060f2d4,

title = "A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot",

abstract = "To slow down the occurrence of diseases such as gait and balance disorders that occur with age, this paper proposes a new ten-degree-of-freedom rehabilitation training robot (SHG Robot) based on a series-parallel hybrid configuration, which can achieve three-dimensional gait training and more natural simulation of daily walking. This paper mainly proposes the configuration of the rehabilitation training robot based on the design criteria of human body characteristics and the range of motion of each joint; and analyzes the kinematics and dynamics of the three-degree-of-freedom parallel structure. The structure effectively reduces the height of the pedal, relieves the patient's fear, and has the advantages of compact structure and the like.",

author = "Diansheng Chen and Chenghang Pan and Xueyi Zhao and Guozhen Huang and Ying Xu and Chunxia Tang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",

year = "2022",

doi = "10.1109/ROBIO55434.2022.10011876",

language = "英语",

series = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "397--402",

booktitle = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

address = "美国",

}

Chen, D, Pan, C, Zhao, X, Huang, G, Xu, Y & Tang, C 2022, A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot. in 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Institute of Electrical and Electronics Engineers Inc., pp. 397-402, 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, 5/12/22. https://doi.org/10.1109/ROBIO55434.2022.10011876

A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot. / Chen, Diansheng; Pan, Chenghang; Zhao, Xueyi et al.
2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 397-402 (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot

AU - Chen, Diansheng

AU - Pan, Chenghang

AU - Zhao, Xueyi

AU - Huang, Guozhen

AU - Xu, Ying

AU - Tang, Chunxia

PY - 2022

Y1 - 2022

N2 - To slow down the occurrence of diseases such as gait and balance disorders that occur with age, this paper proposes a new ten-degree-of-freedom rehabilitation training robot (SHG Robot) based on a series-parallel hybrid configuration, which can achieve three-dimensional gait training and more natural simulation of daily walking. This paper mainly proposes the configuration of the rehabilitation training robot based on the design criteria of human body characteristics and the range of motion of each joint; and analyzes the kinematics and dynamics of the three-degree-of-freedom parallel structure. The structure effectively reduces the height of the pedal, relieves the patient's fear, and has the advantages of compact structure and the like.

AB - To slow down the occurrence of diseases such as gait and balance disorders that occur with age, this paper proposes a new ten-degree-of-freedom rehabilitation training robot (SHG Robot) based on a series-parallel hybrid configuration, which can achieve three-dimensional gait training and more natural simulation of daily walking. This paper mainly proposes the configuration of the rehabilitation training robot based on the design criteria of human body characteristics and the range of motion of each joint; and analyzes the kinematics and dynamics of the three-degree-of-freedom parallel structure. The structure effectively reduces the height of the pedal, relieves the patient's fear, and has the advantages of compact structure and the like.

UR - https://www.scopus.com/pages/publications/85147334044

U2 - 10.1109/ROBIO55434.2022.10011876

DO - 10.1109/ROBIO55434.2022.10011876

M3 - 会议稿件

AN - SCOPUS:85147334044

T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

SP - 397

EP - 402

BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Y2 - 5 December 2022 through 9 December 2022

ER -

Chen D, Pan C, Zhao X, Huang G, Xu Y, Tang C. A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot. In 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 397-402. (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). doi: 10.1109/ROBIO55434.2022.10011876

A Novel Serial-Parallel Hybrid Gait Rehabilitation Training Robot

Abstract

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