Skip to main content
SpringerLink
Log in

Kinematics Analysis of the Wearable Waist Rehabilitation Robot

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14273))

Included in the following conference series:

  • 503 Accesses

Abstract

Patients with lumbar injuries are becoming more common and there is a shortage of intelligent rehabilitation equipment. A wearable lumbar rehabilitation robot for the treatment of low back pain disease is designed to help patients recover their lumbar motion. Firstly, the motion characteristics of the human lumbar spine and its range of motion is determined, and based on the size and range of motion of the human lumbar spine, the configuration design of the lumbar rehabilitation robot is proposed, and a 2-PUU/2-PUS parallel mechanism with three rotations and one translation is proposed; then the degree of freedom(DoF) analysis is carried out based on the screw theory; Finally, the kinematic inverse solution analysis is performed based on the Euler transformation and the geometrical characteristics of this parallel mechanism respectively, and validated based on the established virtual prototype model, and the results show that the mechanism motion characteristics meet the requirements of lumbar rehabilitation.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 69.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 89.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Jan, H., Mark, J., Alice, K., et al.: What low back pain is and why we need to pay attention. Lancet 391(10137), 2356–2367 (2018)

    Article  Google Scholar 

  2. Huang, R., Ning, J., Chuter, V., et al.: Exercise alone and exercise combined with education both prevent episodes of low back pain and related absenteeism: systematic review and network meta-analysis of Randomised Controlled Trials (RCTS) aimed at preventing back pain. Br. J. Sports Med. 54(13), 766–770 (2020)

    Article  Google Scholar 

  3. Tadano, S., Tanabe, H., Arai, S., et al.: Lumbar mechanical traction: a biomechanical assessment of change at the lumbar spine. BMC Musculoskelet. Disord. 20, 155 (2019). https://doi.org/10.1186/s12891-019-2545-9

    Article  Google Scholar 

  4. Hung, Y.-H., Chen, P.-J., Lin, W.-Z.: Design factors and opportunities of rehabilitation robots in upper-limb training after stroke. In: 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, Korea (South), pp. 650–654 (2017). https://doi.org/10.1109/URAI.2017.7992694

  5. Mikan, V.: Traction bed construction: U.S. Patent 3, 821, 953[P]. 1974–7–2

    Google Scholar 

  6. Wolf, S.G., Lossing, W.W.: Method and device for producing variable spinal traction: U.S. Patent 4, 602, 619. 1986-7-29https://doi.org/10.1007/978-1-349-08685-6_17

  7. Sun, Y., Wang, H., Tian, Y.: The design and synchronous control of a new lower back exoskeleton. In: 2018 37th Chinese Control Conference (CCC), Wuhan, China, pp. 3949-3954 (2018). https://doi.org/10.23919/ChiCC.2018.8482960

  8. Guo, X., Zhou, Z., Mai, J., Wang, Q.: Kinematic and kinetic analysis of 3-RPR based robotic lumbar brace. In: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, pp. 1828–1833 (2020). https://doi.org/10.1109/AIM43001.2020.9158807

  9. He, H., Li, J., Shen, H.: A New two -chain 2T1R parallel mechanism with zero coupling degree and its position analysis. In: 2021 3rd International Symposium on Robotics & Intelligent Manufacturing Technology (ISRIMT), Changzhou, China, pp. 487-490 (2021). https://doi.org/10.1109/ISRIMT53730.2021.9597109

  10. Zhao, T.S., Li, Y.W., Chen, J., Wang, J.C.: A novel Four-DOF parallel manipulator mechanism and its kinematics. In: 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, Thailand, pp. 1–5 (2006). https://doi.org/10.1109/RAMECH.2006.252672

  11. Mullins, B.M.: Nikki Kelsall,Anatomy of the lumbar and sacral plexuses and lower limb peripheral neuropathies, Surgery (Oxford), 41(4), 193–199 (2023), ISSN 0263–9319

    Google Scholar 

  12. Sun,Y., Wang, H., Tian, Y.: The design and synchronous control of a new lower back exoskeleton. In: The 37th China Control Conference (2018)

    Google Scholar 

Download references

Acknowledgment

This research work was supported by the National Natural Science Foundation of China (Project 52075145), the Science and Technology Program of Hebei (Project 20281805Z) and the Central Government Guides Basic Research Projects of Local Science and Technology Development Funds (Project 206Z1801G) and the Natural Science Foundation of Hebei Grant Numbers E2022202130.

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China

    Kaicheng Qi, Kefei Fu, Jun Wei, Chenglei Lui, Jingke Song & Jianjun Zhang

  2. Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education, Tianjin, 300130, China

    Kaicheng Qi, Kefei Fu, Jun Wei, Chenglei Lui, Jingke Song & Jianjun Zhang

  3. Key Laboratory of Robot Perception and Human–Machine Fusion, Hebei Province, Tianjin, 300130, China

    Kaicheng Qi, Kefei Fu, Jun Wei, Chenglei Lui, Jingke Song & Jianjun Zhang

Authors
  1. Kaicheng Qi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Kefei Fu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jun Wei
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Chenglei Lui
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jingke Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jianjun Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jun Wei .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Qi, K., Fu, K., Wei, J., Lui, C., Song, J., Zhang, J. (2023). Kinematics Analysis of the Wearable Waist Rehabilitation Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_15

Download citation

  • DOI: https://doi.org/10.1007/978-981-99-6498-7_15

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6497-0

  • Online ISBN: 978-981-99-6498-7

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation