TY - GEN
T1 - Dynamic analysis of horizontal lower limbs rehabilitative robot
AU - Sun, Hongying
AU - Zhang, Lixun
AU - Li, Changsheng
PY - 2009
Y1 - 2009
N2 - A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the force (torque) acting on joints in the course of recovery training should be well known. Based on the Lagrangian method, the dynamic equation of the horizontal lower limbs rehabilitative robot is deduced and the dynamics simulation is carried out using SimMechanics simulation tool, which shows the correctness of the dynamic modeling. Besides, the dynamic parameters of the robot and human lower limbs can be obtained conveniently when the motion law of control agent is given, which provides theoretical basis for the research of rehabilitation training strategy, dynamic performance analysis and high precision force control.
AB - A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the force (torque) acting on joints in the course of recovery training should be well known. Based on the Lagrangian method, the dynamic equation of the horizontal lower limbs rehabilitative robot is deduced and the dynamics simulation is carried out using SimMechanics simulation tool, which shows the correctness of the dynamic modeling. Besides, the dynamic parameters of the robot and human lower limbs can be obtained conveniently when the motion law of control agent is given, which provides theoretical basis for the research of rehabilitation training strategy, dynamic performance analysis and high precision force control.
KW - Dynamics
KW - Horizontal lower limbs rehabilitative robot
KW - Lagrange equation
KW - Parallel mechanism
UR - http://www.scopus.com/inward/record.url?scp=77949620066&partnerID=8YFLogxK
U2 - 10.1109/ICICISYS.2009.5358301
DO - 10.1109/ICICISYS.2009.5358301
M3 - Conference contribution
AN - SCOPUS:77949620066
SN - 9781424447541
T3 - Proceedings - 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, ICIS 2009
SP - 656
EP - 660
BT - Proceedings - 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, ICIS 2009
T2 - 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, ICIS 2009
Y2 - 20 November 2009 through 22 November 2009
ER -
