Trajectory planning of a novel lower limb rehabilitation robot for stroke patient passive training

Ask your doctor to contact the corresponding author for an explanation how this will work(Stroke protocol) and how to duplicate it in another stroke hospital.
http://journals.sagepub.com/doi/full/10.1177/1687814017737666

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Yongfei Feng¹

Yongfei Feng

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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, Hongbo Wang¹²

Hongbo Wang

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China2Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, China
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, Yaxin Du¹

Yaxin Du

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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Fei Chen¹

Fei Chen

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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, Hao Yan¹

Hao Yan

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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, Hongfei Yu¹

Hongfei Yu

1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
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First Published December 16, 2017 Research Article

https://doi.org/10.1177/1687814017737666

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Article Information

Volume: 9 issue: 12,

Article first published online: December 16, 2017; Issue published: December 1, 2017
Received: March 30, 2017; Accepted: September 25, 2017

https://doi.org/10.1177/1687814017737666

Yongfei Feng¹, Hongbo Wang^{1, 2}, Yaxin Du¹, Fei Chen¹, Hao Yan¹, Hongfei Yu¹

¹Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China

²Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao, China

Corresponding Author: Hongbo Wang, Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China. Email: hongbo_w@ysu.edu.cn

This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).

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Abstract

 

A new applicable sitting/lying lower limb rehabilitation robot is proposed to help stroke patients. It can realize the sitting/lying training postures to fit people in all the rehabilitation stages. Based on the modularization design, the movable seat can be separated from and grouped into the lower limb rehabilitation robot, which is convenient for patients to sit down. As the most important part of lower limb rehabilitation robot, the mechanical leg design theory is introduced in detail. According to the physician clinical suggestions, a new trajectory planning method is proposed based on the dual quartic polynomial interpolation method. It could realize the adjustment of each joint maximum velocity during the training on account of patient recovery. The accelerations of the joints at target position equal zero, which will reduce impact loads on the patients damaged leg. Also, the dwell time the joints staying at the target angular positions can be increased. Those advantages make the lower limb rehabilitation robot more suitable for stroke patient passive training. Combined with the virtual reality technique, a specific motion-playback scene is designed to improve the patient enthusiasm in the training. Finally, a preliminary experimental trial has been conducted to demonstrate the design of the prototype, the motion-playback scene, and the trajectory planning method feasible.