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

fYear

2011

Firstpage

621

Lastpage

626

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on

Conference_Location

Harbin Heilongjiang

Print_ISBN

978-1-4244-9323-4

Type

conf

DOI

10.1109/ICCME.2011.5876815

Filename

5876815