Abstract
The article discusses the structure and model of a robotic system for the rehabilitation of the lower limbs based on a passive orthosis in the form of a serial RRRR mechanism and an active parallel 3-PRRR mechanism. Effective numerical methods and algorithms were developed and tested that made it possible to determine the minimum geometric parameters of the active parallel mechanism that ensure the movement of the passive orthosis within the workspace under clinical data when simulating walking. The structure is proposed. The basis parameters for the rehabilitation system design are investigated. To implement the developed methods, an effective algorithm, software package, and visualization system for exported three-dimensional workspaces in STL format were synthesized. The results of mathematical modeling and analysis of the results are given.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Cherni, Y., Begon, M., Chababe, H., Moissenet, F.: Use of electromyography to optimize Lokomat® settings for subject-specific gait rehabilitation in post stroke hemiparetic patients: a proof-of-concept study. Neurophysiol. Clin. 47(4), 293–299 (2017)
Bruni, M.F., Melegari, C., De Cola, M.C., Bramanti, A., Bramanti, P., Calabrt, R.S.: What does best evidence tell us about robotic gait rehabilitation in strokepatients: A systematic review and meta-analysis. J. Clin. Neurosci. 48, 11–17 (2018)
Calabrò, R.S., Naro, A., Russo, M., et al.: Shaping neuroplasticity by using powered exoskeletons in patients with stroke: a randomized clinical trial. J. Neuro. Eng. Rehabil. 15, 35 (2018)
Daminov, V.D.: Robotizirovannaja lokomotornaja terapija v nejroreabilitacii. Vestnik vossta- novit Med. 1, 54–59 (2012). (In Russian)
Kotsyubinskaya, YuV., Musin, R.R., Safonova, NYu.: The contribution of the robotic complex to the rehabilitation of movements in patients in the early recovery period after cerebral stroke. Neurol. Siberia 2, 34–40 (2018)
Guzman-Valdivia, C.H., Blanco-Ortega, A., Oliver-Salazar, M.A., Gomez-Becerra, F.A., Carrera-Escobedo, J.L.: HipBot-the design, development and control of a therapeutic robot for hip rehabilitation. Mechatronics 30, 55–64 (2015)
Mohanta, J.K., Mohan, S., Wenger, P., Chevallereau, C.: A new sitting-type lower-limb rehabilitation robot based on a spatial parallel kinematic machine. In: Proceedings of the Asian Mechanism and Machine Science, Bengaluru, India (2018)
Gosselin, C.: Compact dynamic models for the Tripteron and Quadrupteron parallel manipulators. Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 223(1), 1–12 (2009)
Mohan, S., Mohanta, J.K., Behera, L., Rybak, L.A., Malyshev, D.I.: Robust operational-space motion control of a sitting-type lower limb rehabilitation robot. Adv. Intell. Syst. Comput. 1126, 161–172 (2020)
Mohan, S., Mohanta, J.K., Kurtenbach, S., Paris, J., Corves, B., Huesing, M.: Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies. Mech. Mach. Theor. 112, 272–294 (2017)
Mitchell, M.: An Introduction to Genetic Algorithms. The MIT Press, Cambridge (1997)
Rocha, R., Ferreira, F., Dias, J.: Multi-robot complete exploration using hill climbing and topological recovery. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems, Nice, France, pp. 1884–1889 (2008)
Laryushkin, P., Glazunov, V., Erastova, K.: On the maximization of joint velocities and generalized reactions in the workspace and singularity analysis of parallel mechanisms. Robotica 37(4), 675–690 (2019)
Jaulin, L.: Applied Interval Analysis: with Examples in Parameter and State Estimation, Robust Control and Robotics. Springer, New York (2001)
Posypkin, M., Usov, A.: Basic numerical routines. https://github.com/mposypkin/snowgoose. Accessed 20 May 2020
Acknowledgments
This work was supported by the Russian Science Foundation, the agreement number 19-19-00692.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Malyshev, D., Mohan, S., Rybak, L., Rashoyan, G., Nozdracheva, A. (2021). Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data. In: Venture, G., Solis, J., Takeda, Y., Konno, A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences, vol 601. Springer, Cham. https://doi.org/10.1007/978-3-030-58380-4_66
Download citation
DOI: https://doi.org/10.1007/978-3-030-58380-4_66
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-58379-8
Online ISBN: 978-3-030-58380-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)