Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs
Abstract
:1. Introduction
2. The Structural Model of the Human Lower Limb
- It is necessary to use all active pairs to exclusively exercise the coxofemural joint. M1 ensures the motion of the femur relative to the trunk, when M2 and M3 maintain the relative fixed position of the leg and foot. The connection presented in Figure 3b is available and can be applied to estimate the characteristics of all active pairs.
- In order to exclusively move the knee joint, M1 is blocked in the desired position. At the same time, M3 ensures the position of the foot relative to the leg. M2 determines the motion of the knee. The modular configuration is given in Figure 4a. In its construction, it has a single modular passive group (Table 1) denoted by RRR (2, 3) and two active ones (Table 2) given by AMG–RTRR (4, 5, 6) and AMG–RTRR (7, 8, 9).
- To act only the talocrural joint according to the medical parameters maintaining in the convenient fixed position the leg and the foot, the active pairs M1 and M2 are used to place the human member segments in the desired positions and M3 to determine the movement of the foot. The modular configuration for this section is shown in Figure 4b. Two modular passive groups given by PMG–RRR (2, 3) and PMG–RRR ((6 ≡ 5), 4) and a single mono-mobile one marked AMG–RTRR (7, 8, 9) are relevant for the proposed purpose. In the following, there are various cases of using the mechanism for functional recovery of the lower human joints.
3. Mechanism Kinematic Characteristics for the Exclusive Recovery of the Coxofemural Joint Function
4. Mechanism Dynamic Characteristics for the Coxofemoral Joint Function Recovery
5. Mechanism Characteristics for the Knee Joint Function Exclusive Recovery
6. Mechanism Characteristics for the Talocrural Joint Exclusive Recovery
7. Multifunctional Medical System for Recovery and Monitoring of the Lower Limb
8. Discussion
9. Conclusions
Author Contributions
Funding
Conflicts of Interest
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Baranov Truss (BT) System with Three Degree of Freedom and Zero Degree of Mobility | Passive Modular Group (PMG) System with Zero Degree of Mobility | |
---|---|---|
BT 1 | | PMG 1 |
BT 2 | | PMG 2 |
| PMG 3 | |
BT 3 | | PMG 5 |
| PMG 9 | |
| PMG 11 | |
BT 4 | | PMG 6 |
| PMG 8 | |
| PMG 10 | |
| PMG 12 | |
BT 5 | | PMG 4 |
| PMG 7 | |
| PMG 13 |
| | | |
| | | |
Coordinates of the A and E Pairs Relative to the Fixed Reference System | |
---|---|
AB | 30 |
BC | 115 |
BD | 42.39 |
CE | 40 |
EG | 456 |
EI | 456–50 |
EG3 G3—mass center of the 3 link—femur | 152 |
MG | 444 |
GGT GT—mass center of the 4 link—leg | 444–296 |
GH | 151 |
LM | 50 |
MGL GL—mass center of the 7 link—foot | 150 |
Dependent Parameters (Figure 2) | Positional Dependent Parameters Determination Algorithm |
---|---|
B (XB, YB) kinematic pair B coordinates | |
angular parameters for PMG (2,3)–RRR (2,3) | -values in rad., -values in 0. |
C (XC, YC) kinematic pair C coordinates | |
D (XD, YD) kinematic pair D coordinates | |
I (XI, YI) kinematic pair I coordinates | |
G (XG, YG) kinematic pair G coordinates | |
M (XM, YM) kinematic pair M coordinates | |
H (XH, YH) kinematic pair H coordinates | |
L (XL, YL) kinematic pair L coordinates | |
parameters for PMG (6, 5) = RTR (6, 5) DH–linear parameter, -angular parameter | |
ϕ6k = τk, ϕ60k- values in 0 of the ϕ6k in rad. | |
parameters for PMG (9, 8) = RTR (9, 8) IL–linear parameter, -angular parameter | |
-values in 0 of the in rad. | |
G3 (XG3, YG3) coordinates of the 3 link-femur center of mass G3 | |
G3–the 3 link–femur centre of mass. | |
GT (XGT, YGT) coordinates of the 4 link-leg center of mass GT | |
GT–the 4 link–leg centre of mass. | |
GL (XGL, YGL) coordinates of the 7 link-foot center of mass GL | |
GL–the 7 link–foot centre of mass. | |
RTRR (9, 8, 7) | The equivalent torque of the external and inertial forces for link 7 vidi Figure 8 | X7 = 0 Y7 = −G7 CM7 = 0 | |
G7-link 7 weight-Mass and moment of inertia for links 9 and 8 are neglected | |||
The reaction torque in pair M vidi Figure 8 ; ; | |||
The reaction torque in pair I vidi Figure 8 ; ; | |||
The reaction torque in pair L vidi Figure 8 | |||
The reaction torque in active pair M3 vidi Figure 8 | |||
RTRR (6, 5, 4) | The equivalent torque of the external and inertial forces for link 4 | ||
The reaction torque in pair G vidi Figure 9 | |||
The reaction torque in pair D vidi Figure 9 | |||
The reaction torque in pair H vidi Figure 9 | |||
The reaction torque in active pair M2 vidi Figure 9 | |||
RRR (2, 3) | G2 center of mass coordinates vidi Figure 10 | ||
The equivalent torque of the external and inertial forces for link 2 vidi Figure 10 | |||
The equivalent torque of the external and inertial forces for link 3 vidi Figure 10 | |||
-link 3 weight | |||
The reaction torque in pair B vidi Figure 10 | |||
The reaction torque in pair E vidi Figure 10 | |||
AMIG (A, 1) | The reaction torque in active pair A vidi Figure 11 | ,
, |
M1 Active Pair | ||
| | |
Positional characteristic [0] | Dynamic characteristic [daNmm] | |
M2 Active Pair | ||
‘ | | |
Positional characteristic [mm] | Dynamic characteristic [daN] | |
M3 Active Pair | ||
| | |
Positional characteristic [mm] | Dynamic characteristic [daN] |
M1 Active Pair | ||
| | |
Positional characteristic [0] | Dynamic characteristic [daNmm] | |
M2 Active Pair | ||
| | |
Positional characteristic [mm] | Dynamic characteristic [daN] | |
M3 Active Pair | ||
| | |
Positional characteristic [mm] | Dynamic characteristic [daN] |
M1 Active Pair | ||
| | |
Positional characteristic [0] | Dynamic characteristic | |
M2 Active Pair | ||
| | |
Positional characteristic | Dynamic characteristic | |
M3 Active Pair | ||
| | |
Positional characteristic | Dynamic characteristic |
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Comanescu, A.; Dugaesescu, I.; Boblea, D.; Ungureanu, L. Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs. Sensors 2019, 19, 5042. https://doi.org/10.3390/s19225042
Comanescu A, Dugaesescu I, Boblea D, Ungureanu L. Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs. Sensors. 2019; 19(22):5042. https://doi.org/10.3390/s19225042
Chicago/Turabian StyleComanescu, Adriana, Ileana Dugaesescu, Doru Boblea, and Liviu Ungureanu. 2019. "Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs" Sensors 19, no. 22: 5042. https://doi.org/10.3390/s19225042
APA StyleComanescu, A., Dugaesescu, I., Boblea, D., & Ungureanu, L. (2019). Multifunctional Medical Recovery and Monitoring System for the Human Lower Limbs. Sensors, 19(22), 5042. https://doi.org/10.3390/s19225042