ABSTRACT
With the deepening of the aging of society， there are more and more patients with motor dysfunction of lower limb，and rehabilitation therapy for these patients is becoming more and more important. Since the 1980s， exoskeleton robots for lower-limb rehabilitation have been applied to the rehabilitation for patient with dyskinesia， especially those with dyskinesia caused by neurological diseases such as stroke. These exoskeleton robots are wearable， nonlinear and complex mechanical devices， which deserve to be studied and widely applied. In this review， the research status， clinical application and challenges of exoskeleton robots for lower-limb rehabilitation are described in three aspects according to the difference of the therapeutic sites of exoskeleton rehabilitation robots， and on the basis， the development trend of exoskeleton robots for lower-limb rehabilitation is prospected.
ABSTRACT
Based on the biomechanical mechanism of human upper limb, the disadvantages of traditional rehabilitation training and the current status of upper limb rehabilitation robot, a six degree of freedom, flexible adjustment, wearable upper limb rehabilitation exoskeleton design scheme is proposed. Firstly, the mechanics of each joint of the upper limb is analyzed, and the virtual prototype design of the whole mechanical structure of the upper limb rehabilitation wearable exoskeleton is carried out by using CATIA three-dimensional software. The tooth transmission of the forearm and the upper arm single row four point contact ball bearing with internal/external rotation and the shoulder flexible passive adjustment mechanism (viscoelastic damper) are innovatively designed. Then, the joints of the upper limb rehabilitation exoskeleton are analyzed, theoretical analysis and calculation of the driving torque, the selection of the motor and gearbox of each driving joint are carried out. Finally, the whole finite element analysis of the upper limb exoskeleton is carried out. The research and experimental results showed that the design scheme of the upper limb exoskeleton assist structure is highly feasible, which can help the patients with upper limb paralysis and motor dysfunction self-rehabilitation.
Subject(s)
Humans , Biomechanical Phenomena , Exoskeleton Device , Robotics , Stroke Rehabilitation , Torque , Upper Extremity , Wearable Electronic DevicesABSTRACT
The lower extremity exoskeleton robot is a wearable device designed to help people suffering from a walking disorder to regain the power of the legs and joints to achieve standing and walking functions. Compared with traditional robots that include rigid mechanisms, lower extremity exoskeleton robots with compliant characteristics can store and release energy in passive elastic elements while minimizing the reaction force due to impact, so it can improve the safety of human-robot interaction. This paper reviews the compliant characteristics of lower extremity exoskeleton robots from the aspects of compliant drive and compliant joint, and introduces the augmentation, assistive, rehabilitation lower extremity exoskeleton robots. It also prospect the future development trend of lower extremity exoskeleton robots.
ABSTRACT
@# Lower extremity exoskeleton system is a kind of human-machine robot, which combines the artificial intelligence with the power of mechanism. Recent years, the field of lower extremity exoskeleton robots have rapidly evolved and development of relevant technologies have dramatically increased these robots available for facilitating human walking function that could only be imagined a few years ago. Some technologies are so new that they lack the scientific evidence that would justify their use in the real setting. This paper presents an over view of design configurations, control methods and simulation test used for lower extremity exoskeleton robots. Further research efforts are required in order to incorporate many of the new technologies described in this review to promote the development of the lower extremity exoskeleton robots.