Title :
Design and Kinematics of a Lower Limb Rehabilitation Robot
Author :
Wang, Hongbo ; Liu, Hongtao ; Shi, Xiaohua ; Hou, Zengguang
Author_Institution :
Coll. of Mech. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
This paper presents a rehabilitation robot used for the patient with paralysis of lower limb and the kinematics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinematics solution of the robot is given. The working space of the foot apex is calculated under the training range. The trajectory planning is studied. It provides important data reference for the rehabilitation of paraplegia patients.
Keywords :
artificial limbs; control system synthesis; handicapped aids; medical robotics; path planning; patient rehabilitation; position control; robot kinematics; lower limb rehabilitation robot kinematics; mechanical design; paraplegia patient rehabilitation; robot mechanical design; Belts; Couplings; Humans; Intelligent robots; Joints; Medical robotics; Orbital robotics; Rehabilitation robotics; Robot kinematics; Robotics and automation;
Conference_Titel :
Biomedical Engineering and Informatics, 2009. BMEI '09. 2nd International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-4132-7
Electronic_ISBN :
978-1-4244-4134-1
DOI :
10.1109/BMEI.2009.5305766
