Goergen R, Valdiero A C, Rasia L A, Oberdorfer M, de Souza J P, Goncalves R S
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:187-192. doi: 10.1109/ICORR.2019.8779522.
Nowadays, many people suffer from physical disabilities caused by illness or accidents. The problems in the lower limb are one of the main that interrupt the activities of daily life of these people. To assist them in the activities of daily living, many support devices for upper and lower limb movement have been developed. In this paper is proposed a new simple and low-cost pneumatic robotic mechanism for lower limb rehabilitation. We employ a pneumatic actuator so that it is possible to obtain safety for the operation and the control of the force by the appropriate regulation of the pressures in the pneumatic cylinder chambers of the robot for rehabilitation. This work deals with the development of the robot for rehabilitation from a methodology of integration of mathematical modeling with the phases of the design process. It is concluded that the results obtained are a modular design that can be improved for multiple degrees of freedom and adapted also for rehabilitation of upper limbs.
如今，许多人患有由疾病或事故导致的身体残疾。下肢问题是妨碍这些人日常生活活动的主要问题之一。为了帮助他们进行日常生活活动，已经开发了许多用于上下肢运动的支撑装置。本文提出了一种用于下肢康复的新型简单且低成本的气动机器人机构。我们采用气动执行器，通过对康复机器人气缸腔室压力的适当调节，可以实现操作安全并控制力。这项工作从将数学建模与设计过程阶段相结合的方法学角度出发，致力于康复机器人的开发。得出的结论是，所获得的结果是一种模块化设计，可以针对多个自由度进行改进，并且也适用于上肢康复。
