Abstract
Gait training is very important in the rehabilitation of neurological patients like stroke patients and spinal cord injury patients. To help those patients, a lower limb rehabilitation robot is developed. For obtaining a feasible gait, more accurate models based on ergonomics are necessary. We did gait experiment of human walking in order to reproduce the human gait. As a result of this experiment, we confirmed the effectiveness of the models to be established. Mathematical models in different phase are built based on the experiment. Kinematics modeling was presented. Finally, dynamic models based on Newton-Euler equations of the lower limbs rehabilitation robot during different phase were established. These models will provide more accurate data for the control system.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Hesse, S., Sarkodie-Gyan, T., Uhlenbrock, D.: Development of an advanced mechanized gait trainer, controlling the movement of the center of mass, for restoring gait in non-ambulant subjects. Biomed. Tech. 44, 194–201 (1999)
Colombo, G., Joerg, M., Schreier, R., Dietz, V.: Treadmill training of paraplegic patients using a robotic orthosis. J. Rehab. Res. & Dev. 37(6), 313–319 (2000)
Veneman, J.F., Kruidhof, R., Hekman, E.E., Ekkelenkamp, P., Van Asseldonk, E.H., van der Kooij, H.: Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15, 379–386 (2007)
Nakai, T., Lee, S., Kawamoto, H., Sankai, Y.: Development of Power Assistive Leg for Walking Aid using EMG and Linux. In: Proc. The 2nd Asian Conference on Industrial Automation Robotics (ASIAR 2001), Bangkok, Thailand, pp. 295–299 (2001)
Kawamoto, H., Sankai, Y.: Power Assist System HAL-3 for Gait Disorder Person. In: Miesenberger, K., Klaus, J., Zagler, W.L. (eds.) ICCHP 2002. LNCS, vol. 2398, pp. 196–203. Springer, Heidelberg (2002)
Neuhaus, P., Kazerooni, H.: Design and Control of Human Assisted walking robot. In: IEEE International Conference on Robotics and Automation, vol. 1, pp. 563–569 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zhang, Q., Chen, M., Xu, L. (2012). Kinematics and Dynamics Modeling for Lower Limbs Rehabilitation Robot. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_65
Download citation
DOI: https://doi.org/10.1007/978-3-642-34103-8_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34102-1
Online ISBN: 978-3-642-34103-8
eBook Packages: Computer ScienceComputer Science (R0)