A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type
文献类型：期刊论文
| 作者 | Wang, Weiqun ; Hou, Zeng-Guang; Tong, Lina; Zhang, Feng; Chen, Yixiong; Tan, Min
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2014-04-01 |
| 卷号 | 74页码:337-353 |
| 关键词 | Rehabilitation robot Leg orthosis Optimization Kinematics |
| 英文摘要 | This paper proposes a novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type. It consists of three joint mechanisms: hip, knee and ankle, and two sets of links: thigh and crus. Each driving motor is located close to the associated joint and the rotational axis of each joint mechanism is unique and stable. These features make it outperform the similar mechanisms in stability and dynamic performance. Different forms of eccentric slider-crank mechanisms are applied in the three joint mechanisms, respectively, such that they can be optimized independently. The optimization problems for the hip and knee joint mechanisms, characterized as strongly nonlinear, are developed respectively. Then, a particle swarm optimization algorithm is used to obtain the optimal solutions, which are subsequently validated by comprehensive comparisons. Moreover, the kinematics necessary for motion control and trajectory tracking are investigated, which denote the relationships between the displacements and velocities of the joint mechanisms, lead screws and the end effector. Finally, this paper illustrates the feasibility of the application of the leg orthosis to actual rehabilitation exercises by a simulation example. (C) 2014 Elsevier Ltd. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | SPINAL-CORD ; STROKE ; INJURY ; WALKING |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000332400200022 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3506]  |
| 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 | Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Weiqun,Hou, Zeng-Guang,Tong, Lina,et al. A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type[J]. MECHANISM AND MACHINE THEORY,2014,74:337-353. |
| APA | Wang, Weiqun,Hou, Zeng-Guang,Tong, Lina,Zhang, Feng,Chen, Yixiong,&Tan, Min.(2014).A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type.MECHANISM AND MACHINE THEORY,74,337-353. |
| MLA | Wang, Weiqun,et al."A novel leg orthosis for lower limb rehabilitation robots of the sitting/lying type".MECHANISM AND MACHINE THEORY 74(2014):337-353. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。