کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6883448 1444173 2018 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Development and control of a new sitting-type lower limb rehabilitation robot
ترجمه فارسی عنوان
توسعه و کنترل یک ربات جدید توانبخشی اندام تحتانی نشسته
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر شبکه های کامپیوتری و ارتباطات
چکیده انگلیسی
This paper proposes a planar hybrid manipulator system integrated with a passive serial orthosis for a foot-plate based sitting-type lower limb rehabilitation robot. The proposed robotic system has a modularity which can be easily upgraded to a standing-type body weight support (BWS) mechanism. The detailed design and development of the robot are discussed in this paper along with its kinematic and dynamic analyses. The rehabilitation strategy is described for the field of application. The effectiveness and performance of the proposed mechanism are demonstrated with a clinical gait pattern using a proportional-integral-derivative (PID) control scheme on an in-house fabricated real-time prototype. The prototype experiments are conducted in view of validating the prototype for the therapeutic and gait training motions.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computers & Electrical Engineering - Volume 67, April 2018, Pages 330-347
نویسندگان
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