Chinese Journal of Tissue Engineering Research ›› 2011, Vol. 15 ›› Issue (30): 5518-5521.doi: 10.3969/j.issn.1673-8225.2011.30.003

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Dynamics analysis and application of the rehabilitation power assist robot for the leg

Chen Feng, Tang Min, Ma Wei-guo, Liu Xian-fei   

  1. College of Electrical Engineering, Nantong University, Nantong  226019, Jiangsu Province, China
  • Received:2011-02-23 Revised:2011-04-13 Online:2011-07-23 Published:2011-07-23
  • About author:Chen Feng☆, Doctor, Associate professor, College of Electrical Engineering, Nantong University, Nantong 226019, Jiangsu Province, China hardwk@163.com
  • Supported by:

    the National Natural Science Foundation of China, No. 61005054*, 60975064*; the Natural Science Research Program of Jiangsu High Education, No. 09KJD510004*; the Science and Technology Program of Nantong, No. K2009032*

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Abstract:

BACKGROUND: In 2005, the successful production of lower extremity rehabilitation robot system can co-promote the delivery of leg movement through the central control system as well as the gait and attitude control system so as to restore lower limb function.
OBJECTIVE: To perform the mechanical analysis of the rehabilitation power assist robot.
METHODS: Power assist exoskeleton is a complicated dynamical system composed of many joints and links, and it is a MIMO. Power assist robot dynamics is about the movement-force relationship, and its results of simulation are used to optimize the system. Through motion information perception, the rehabilitation power assist robot provides power for wearer hip joint to accomplish motion of flexion/extension, abduction/adduction and internal rotation/external rotation.
RESULTS AND CONCLUSION: The dynamical equation is used to realize the hybrid control. The practitioner can fully completed functional recovery action, with promotion of practicer limb strength and action proficiency, the system gradually reduces the power support until the recovery.

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