Kinematics and Dynamics Modeling for Lower Limbs Rehabilitation Robot

  • Qian Zhang
  • Min Chen
  • Limei Xu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)

Abstract

Gait training is very important in the rehabilitation of neurological patients like stroke patients and spinal cord injury patients. To help those patients, a lower limb rehabilitation robot is developed. For obtaining a feasible gait, more accurate models based on ergonomics are necessary. We did gait experiment of human walking in order to reproduce the human gait. As a result of this experiment, we confirmed the effectiveness of the models to be established. Mathematical models in different phase are built based on the experiment. Kinematics modeling was presented. Finally, dynamic models based on Newton-Euler equations of the lower limbs rehabilitation robot during different phase were established. These models will provide more accurate data for the control system.

Keywords

gait training rehabilitation robot kinematic and dynamic analysis 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Hesse, S., Sarkodie-Gyan, T., Uhlenbrock, D.: Development of an advanced mechanized gait trainer, controlling the movement of the center of mass, for restoring gait in non-ambulant subjects. Biomed. Tech. 44, 194–201 (1999)CrossRefGoogle Scholar
  2. 2.
    Colombo, G., Joerg, M., Schreier, R., Dietz, V.: Treadmill training of paraplegic patients using a robotic orthosis. J. Rehab. Res. & Dev. 37(6), 313–319 (2000)Google Scholar
  3. 3.
    Veneman, J.F., Kruidhof, R., Hekman, E.E., Ekkelenkamp, P., Van Asseldonk, E.H., van der Kooij, H.: Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15, 379–386 (2007)CrossRefGoogle Scholar
  4. 4.
    Nakai, T., Lee, S., Kawamoto, H., Sankai, Y.: Development of Power Assistive Leg for Walking Aid using EMG and Linux. In: Proc. The 2nd Asian Conference on Industrial Automation Robotics (ASIAR 2001), Bangkok, Thailand, pp. 295–299 (2001)Google Scholar
  5. 5.
    Kawamoto, H., Sankai, Y.: Power Assist System HAL-3 for Gait Disorder Person. In: Miesenberger, K., Klaus, J., Zagler, W.L. (eds.) ICCHP 2002. LNCS, vol. 2398, pp. 196–203. Springer, Heidelberg (2002)CrossRefGoogle Scholar
  6. 6.
    Neuhaus, P., Kazerooni, H.: Design and Control of Human Assisted walking robot. In: IEEE International Conference on Robotics and Automation, vol. 1, pp. 563–569 (2000)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Qian Zhang
    • 1
  • Min Chen
    • 1
  • Limei Xu
    • 1
  1. 1.School of Aeronautics and AstronauticsUniversity of Electronic Science and Technology of ChinaChengduPRC

Personalised recommendations