Mechanism Design and Performance Analysis of a Sitting/Lying Lower Limb Rehabilitation Robot
Abstract
:1. Introduction
2. Range of Motion Analysis of Lower Limbs in Humans’ Sitting/Lying Position
3. Mechanical Structure Design
3.1. Mechanical Structure Description
3.2. Selection of Motor Drive
3.2.1. Precision Linear Module Selection
3.2.2. Selection of Drive Motor and Reducer
4. Kinematics Analysis of Mechanism
4.1. Forward and Inverse Kinematics
4.2. Jacobian Matrices and Singularity Analysis
4.2.1. Jacobian Matrix
4.2.2. Singularity Analysis
4.3. Condition Number
5. Trajectory Planning
6. Experiment and Evaluation
6.1. Experimental Setup
6.2. Experimental Result and Evaluation
7. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Joint | Datum Plane | Movement | Angle Range (°) |
---|---|---|---|
Hip | Sagittal plane | Flexion (lying pos.) | 0~125 |
Flexion (sitting pos.) | 0~45 | ||
Coronal plane | Abduction (lying pos.) | 0~45 | |
Adduction (sitting pos.) | 0~45 | ||
Knee | Sagittal plane | Flexion | −150~0 |
Ankle | Sagittal plane | Dorsiflexion | 0~20 |
Flexion | 0~45 |
Control Component | Model | Basic Parameters | Number |
---|---|---|---|
Upper computer | HP 15-bc011TX | i5-6300HQ CPU @ 2.30 GHz | 1 |
Motor | SDGA-02C12BD | 0.2 KW, 36 V, 0.64 N.m | 4 |
Linear module | NDC86-1510-740-1-P-F0-S2 | 610 mm | 4 |
Speed reducer | 60ZDF5-400T1 | 5:1 | 4 |
Actuators | TSDA-C11A | RS-232 | 4 |
Relay board | WF-16i-16o | RS-485 | 1 |
Encoder | / | 2500 p/r | 4 |
Software | QT 5.9.7 | / | 1 |
Volunteer | Gender | Thigh Length | Calf Length |
---|---|---|---|
Ⅰ | Male | 560 mm | 450 mm |
Ⅱ | Male | 500 mm | 435 mm |
Ⅲ | Male | 480 mm | 390 mm |
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Dong, F.; Li, H.; Feng, Y. Mechanism Design and Performance Analysis of a Sitting/Lying Lower Limb Rehabilitation Robot. Machines 2022, 10, 674. https://doi.org/10.3390/machines10080674
Dong F, Li H, Feng Y. Mechanism Design and Performance Analysis of a Sitting/Lying Lower Limb Rehabilitation Robot. Machines. 2022; 10(8):674. https://doi.org/10.3390/machines10080674
Chicago/Turabian StyleDong, Fangyan, Haoyu Li, and Yongfei Feng. 2022. "Mechanism Design and Performance Analysis of a Sitting/Lying Lower Limb Rehabilitation Robot" Machines 10, no. 8: 674. https://doi.org/10.3390/machines10080674