Title :
Optimization of walking assistance mechanism in rehabilitation wheelchair
Author :
Zhang, Lixun ; Bai, Dapeng ; Yi, Lei
Author_Institution :
Coll. of Mech. & Electr. Eng., Harbin Eng. Univ. of Harbin, Harbin, China
Abstract :
In order to help the lower limbs disabled persons to finish rehabilitation walking training, a new kind of walking assistance mechanism in rehabilitation wheelchair is proposed. Based on the kinematics analysis and static analysis, the dynamic model is established by Simultaneous constraint method. Dimensions optimization, kinematics simulation and dynamic simulation are finished by using MATLAB soft ware, the simulation results showed that the mechanism´s motion law is more similar to human normal walking characteristic after dimensions optimization, and unilateral mechanism driven by one actuator can control the leg to finish rehabilitation walking training.
Keywords :
biomechanics; handicapped aids; mathematics computing; medical computing; optimisation; patient rehabilitation; wheelchairs; MATLAB software; dimensional optimization; dynamical model; dynamical simulation; kinematic analysis; kinematic simulation; lower limb disabled persons; normal human walking; rehabilitation walking training; rehabilitation wheelchair; simultaneous constraint method; static analysis; walking assistance mechanism optimization; Kinematics; Legged locomotion; Training; Dynamic model; Optimization; Walking assistance mechanism;
Conference_Titel :
Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on
Conference_Location :
Harbin Heilongjiang
Print_ISBN :
978-1-4244-9323-4
DOI :
10.1109/ICCME.2011.5876815
