Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot
	Wang, H.1; Shi, X.1; Liu, H.1; Li, L.1; Hou, Z.2 ; Yu, H.3
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
	2011-09-01
卷号	225 期号:I6 页码:860-872
关键词	lower-limb rehabilitation robot design kinematics simulation experiment
英文摘要	This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot has the feature that three rotary joints consist of three crank rocker mechanisms with an identical module. The paper covers mechanism design and optimization, kinematics analysis and trajectory planning, motion simulation, the control system design, and experiments. The simulation and experimental results demonstrate that the proposed rehabilitation robot is safe and reliable with the effective design and better kinematic performance.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems
研究领域[WOS]	Automation & Control Systems
关键词[WOS]	PARAPLEGIC PATIENTS ; SYSTEM ; ORTHOSIS ; GAIT ; TELEREHABILITATION ; FEEDBACK ; ACTUATOR
收录类别	SCI ; ISTP
语种	英语
WOS记录号	WOS:000294469400015
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3435]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.Staffordshire Univ, Fac Comp Engn & Technol, Stoke On Trent ST4 2DE, Staffs, England
推荐引用方式 GB/T 7714	Wang, H.,Shi, X.,Liu, H.,et al. Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,2011,225(I6):860-872.
APA	Wang, H.,Shi, X.,Liu, H.,Li, L.,Hou, Z.,&Yu, H..(2011).Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,225(I6),860-872.
MLA	Wang, H.,et al."Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 225.I6(2011):860-872.