Imani Babak, Najafi Farid
Faculty of Mechanical Engineering, University of Guilan, Rasht, Guilan, Iran.
Proc Inst Mech Eng H. 2023 Mar;237(3):336-347. doi: 10.1177/09544119221146243. Epub 2023 Feb 2.
This study presents a model of cooperation between two planar manipulators including an orthosis and a programmable plate in form of a hybrid lower limb rehabilitation robot, which was designed and built at the University of Guilan. The aims of cooperation are to distribute the power required to move between the cooperative manipulators and also reduce the interaction forces between orthosis and leg. The cooperation is performed with two modes using the adjustment of the plate forces, a constant force in the vertical direction (CFV) and variant force proportional to orthosis torque (VFPOT). Kinematic and dynamic analysis of the hybrid lower limb rehabilitation robot and its control are also discussed in this study. The performance and effectiveness of the proposed hybrid robot are demonstrated on a healthy person in real-time. Each walking trial lasted 60 s and repeated 20 times for every mode. The walking speed was considered to be 1.5 km/h and weight compensator was adjusted with a constant weight unloading level of 70%. The results show that the VFPOT mode leads to a 45% reduction in the driving torque of the hip and knee joints compared to orthosis-only. This reduction is expected to reduce interaction force at the connection straps. So, it provides more patient comfort and safety, which can be effective in improving the time and process of rehabilitation.
本研究提出了一种由两个平面操纵器组成的合作模型，该模型包含一个矫形器和一个可编程平板，以混合下肢康复机器人的形式呈现，此机器人由吉兰大学设计并制造。合作的目的是在协作操纵器之间分配运动所需的动力，并减少矫形器与腿部之间的相互作用力。通过调整平板力，采用两种模式进行合作，即垂直方向的恒力（CFV）和与矫形器扭矩成比例的变力（VFPOT）。本研究还讨论了混合下肢康复机器人的运动学和动力学分析及其控制。所提出的混合机器人的性能和有效性在一名健康人身上进行了实时演示。每次步行试验持续60秒，每种模式重复20次。步行速度设定为1.5公里/小时，重量补偿器以70%的恒定重量卸载水平进行调整。结果表明，与仅使用矫形器相比，VFPOT模式可使髋关节和膝关节的驱动扭矩降低45%。预计这种降低将减少连接带处的相互作用力。因此，它为患者提供了更高的舒适度和安全性，这对改善康复时间和过程可能会有效果。
