TY - GEN
T1 - Cylinder-Wheel Coupled Robot with Buttocks-Support Mechanism for Lower-Limb Rehabilitation Training
AU - Chai, Zhiyuan
AU - Ma, Qingchuan
AU - Liu, Yuyao
AU - Li, Xuhang
AU - Wang, Xingyu
AU - Wei, Shanshan
AU - Pan, Feiyu
AU - Ji, Linhong
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Rehabilitation robot plays an increasingly important role in the treatment of spinal cord injuries for reducing the human surgeons' workload and meeting the rapidly growing clinical demands. However, extant treadmill-based rehabilitation robot presents challenges due to complicated gait generation mechanism and human-machine interaction mismatch. Hence, we designed a cylinder-wheel coupled medical robot for lower-limb rehabilitation training. The robot used a motorized track and two electric cylinders in each limb to match the patient's three joints rotation, and generated gait motion through the coordination of the left and right limbs. The robot employed a dynamic buttocks-support mechanism to reduce the patient's impedance torque during training, avoiding the use of a complex body weight support (BWS) system commonly used in existing rehabilitation robots. 3D simulation results demonstrated the high usability of this novel design in gait generation, showing promising potential to solve the bottlenecks that emerged in treadmill-based rehabilitation robots.
AB - Rehabilitation robot plays an increasingly important role in the treatment of spinal cord injuries for reducing the human surgeons' workload and meeting the rapidly growing clinical demands. However, extant treadmill-based rehabilitation robot presents challenges due to complicated gait generation mechanism and human-machine interaction mismatch. Hence, we designed a cylinder-wheel coupled medical robot for lower-limb rehabilitation training. The robot used a motorized track and two electric cylinders in each limb to match the patient's three joints rotation, and generated gait motion through the coordination of the left and right limbs. The robot employed a dynamic buttocks-support mechanism to reduce the patient's impedance torque during training, avoiding the use of a complex body weight support (BWS) system commonly used in existing rehabilitation robots. 3D simulation results demonstrated the high usability of this novel design in gait generation, showing promising potential to solve the bottlenecks that emerged in treadmill-based rehabilitation robots.
KW - gait
KW - lower limb rehabilitation equipment
KW - rehabilitation robot
KW - spinal cord injury
UR - https://www.scopus.com/pages/publications/85200741691
U2 - 10.1109/RAAI59955.2023.10601202
DO - 10.1109/RAAI59955.2023.10601202
M3 - 会议稿件
AN - SCOPUS:85200741691
T3 - 2023 3rd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2023
SP - 174
EP - 177
BT - 2023 3rd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2023
Y2 - 14 December 2023 through 16 December 2023
ER -