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

  • Type:

    Article

  • Date:

    18 July 2011

  • Publication Status:

    Published

  • Publisher

    SAGE Publications

  • DOI:

    10.1177/0959651811408978

  • Cross Ref:

    10.1177/0959651811408978

  • ISSN:

    0959-6518

  • Funders:

    Historic Funder (pre-Worktribe)

Citation

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(6), 860-872. https://doi.org/10.1177/0959651811408978

Authors

Keywords

lower-limb rehabilitation robot, design, kinematics, simulation, experiment

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