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Design of A Lower Limb Rehabilitation Training Robot Based on A Double Four-Bar Synchronous Motion Mechanism

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Intelligent Robotics and Applications (ICIRA 2023)

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

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Abstract

For patients with lower limb dysfunction who need to complete gait rehabilitation training, a new single-degree-of-freedom human lower limb rehabilitation training robot was designed, and a mechanism dimensional synthesis method was proposed. In order to realize the motion trajectory of the foot, a single-degree-of-freedom planar four-bar mechanism is selected as the mechanism unit, and the functional relationship between the input and output of the planar four-bar mechanism is analyzed and established, and a double four-bar synchronous motion mechanism is used to realize the relative motion of the heel and toe joint. Then, a Watt II six-link mechanism and a deflation mechanism are used to realize the motion trajectory of the toes. By acquiring the human gait trajectory through the Xsens MVN Analyze, thus giving the rigid-body line of desired according to the motion trajectory. The desired rigid-body line is processed by the non-equal interval normalization method, and the mechanism is designed by the numerical atlas method and the approximate synthesis method. The results show that the designed single-degree-of-freedom mechanism can simulate the motion of normal human gait motion trajectory, and the effectiveness of the design method is verified by experiments.

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Acknowledgments

This project was supported by the Science and Technology Research Project of the Jilin Provincial Department of Education [grant no. JJKH20220672KJ], Projects of Hubei Science and Technology Department [grant no. 2022CFC035], and Scientific Research Project of Education Department of Hubei Province under [grant no. D20222603].

Author information

Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun, 130012, China

    Xiankun Qu

  2. School of Mechanical Engineering, Hubei University of Arts and Sciences, Xiangyang, 441053, China

    Hao Chu & Wenrui Liu

  3. Xiangyang Key Laboratory of Rehabilitation Medicine and Rehabilitation Engineering Technology, Hubei University of Arts and Science, Xiangyang, 441053, China

    Hao Chu & Wenrui Liu

Authors
  1. Xiankun Qu
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  2. Hao Chu
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  3. Wenrui Liu
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Corresponding author

Correspondence to Wenrui Liu .

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

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Qu, X., Chu, H., Liu, W. (2023). Design of A Lower Limb Rehabilitation Training Robot Based on A Double Four-Bar Synchronous Motion Mechanism. 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_46

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  • DOI: https://doi.org/10.1007/978-981-99-6498-7_46

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6497-0

  • Online ISBN: 978-981-99-6498-7

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