TY - GEN
T1 - Design of a lower limb rehabilitation robot based on 3-RPR parallel mechanism
AU - Zhou, Libo
AU - Chen, Weihai
AU - Wang, Jianhua
AU - Liu, Jingmeng
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/12
Y1 - 2017/7/12
N2 - As the population ages, the need for rehabilitation robots is becoming greater and greater. Considering that lower limb motion plays an important role in the activities of daily life. This paper focus on developing a 3-degree of freedom bionic knee lower limb exoskeleton rehabilitation robot. The exoskeleton consists of a 1-DOF hip joint and 2-DOF knee joint in the sagittal plane. According to the theory of human gait and lower limb structure, a 3-RPR (Revolute pair-Prismatic pair-Revolute pair) parallel mechanism was designed to fully accommodate the motion of the human knee joint and obtain the trajectory of lower limb. The parameters of the mechanism was optimized based on maximizing the useful work space. In order to enable people of different height to use the exoskeleton robot, we designed a leadscrew nut mechanism to adjust the length of the exoskeleton steplessly. Compared with other traditional lower limb exoskeleton robots, this robot has the characteristics of compact structure and bionic knee joint. In order to verify the feasibility of this exoskeleton, a simulation based on MATLAB and ADAMS was performed.
AB - As the population ages, the need for rehabilitation robots is becoming greater and greater. Considering that lower limb motion plays an important role in the activities of daily life. This paper focus on developing a 3-degree of freedom bionic knee lower limb exoskeleton rehabilitation robot. The exoskeleton consists of a 1-DOF hip joint and 2-DOF knee joint in the sagittal plane. According to the theory of human gait and lower limb structure, a 3-RPR (Revolute pair-Prismatic pair-Revolute pair) parallel mechanism was designed to fully accommodate the motion of the human knee joint and obtain the trajectory of lower limb. The parameters of the mechanism was optimized based on maximizing the useful work space. In order to enable people of different height to use the exoskeleton robot, we designed a leadscrew nut mechanism to adjust the length of the exoskeleton steplessly. Compared with other traditional lower limb exoskeleton robots, this robot has the characteristics of compact structure and bionic knee joint. In order to verify the feasibility of this exoskeleton, a simulation based on MATLAB and ADAMS was performed.
KW - 3-RPR parallel mechanism
KW - Bionic knee joint
KW - Rehabilitation robot
UR - https://www.scopus.com/pages/publications/85028074112
U2 - 10.1109/CCDC.2017.7978550
DO - 10.1109/CCDC.2017.7978550
M3 - 会议稿件
AN - SCOPUS:85028074112
T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
SP - 7539
EP - 7544
BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Chinese Control and Decision Conference, CCDC 2017
Y2 - 28 May 2017 through 30 May 2017
ER -