Kinematic Analysis of an Assistive Robotic Leg for Hemiplegic and Hemiparetic Patients
The aim of this paper is to present the kinematic
analysis and mechanism design of an assistive robotic leg for
hemiplegic and hemiparetic patients. In this work, the priority is to
design and develop the lightweight, effective and single driver
mechanism on the basis of experimental hip and knee angles- data for
walking speed of 1 km/h. A mechanism of cam-follower with three
links is suggested for this purpose. The kinematic analysis is carried
out and analysed using commercialized MATLAB software based on
the prototype-s links sizes and kinematic relationships. In order to
verify the kinematic analysis of the prototype, kinematic analysis data
are compared with the experimental data. A good agreement between
them proves that the anthropomorphic design of the lower extremity
exoskeleton follows the human walking gait.
1] Tapus, A. & Matarić, M. J., "User Personality Matching with a Hands-
Off Robot for Post-stroke Rehabilitation Therapy," in Journal of
Experimental Robotics vol. 39, ed Heidelberg: Springer Berlin, 2008,
pp. 165-175.
[2] Moonhee, L., Matheson, R. & Hussein, A. A, "Design Issues for
Therapeutic Robot Systems: Results from a Survey of
Physiotherapists," Journal of Intelligent and Robotic Systems, vol. 42,
pp. 239-252, 2005.
[3] Kao, P.C, "Motor adaptation during dorsiflexion-assisted walking with
a powered orthosis," Journal of Gait and Posture, vol. 29, pp. 230-236,
2009.
[4] Sawicki, G. S., Domingo, A. & Ferris, D. P, "The Effects of Powered
Ankle-Foot Orthoses on Joint Kinematics and Muscle Activation
During Walking in Individuals With Incomplete spinal cord injury,"
Journal of NeuroEngineering and Rehabilitation, vol. 3, pp. 1-17,
2006.
[5] Kawamoto, H. & Sankai, Y., "Power Assist System HAL-3 for Gait
Disorder Person," in Computers Helping People with Special Needs.
vol. 2398/2002, ed Heidelberg: Springer Berlin, 2002, pp. 19-29.
[6] Kawainoto, H., Lee, S., Kanbe, S. & Sankai, Y., "Power Assist Method
for HAL-3 Using EMG-Based Feedback Controller," in Proceedings of
the IEEE International Conference on Systems, Man, and Cybernetics,
2003, pp. 1648-1653.
[7] Banala, S. K., Kulpe, A. & Agrawal, S. K., "A Powered Leg Orthosis
for Gait Rehabilitation of Motor-Impaired Patients," in IEEE
International Conference on Robotics and Automation, Roma, Italy,
2007, pp. 4140-4145.
[8] Kenta, S., Gouji, M., Hiroaki, K., Yasuhisa, H. & Yoshiyuki, S.,
"Intention-Based Walking Support for Paraplegia Patients with Robot
Suit HAL," Advanced Robotics, vol. 29, pp. 1441-1469, 2007.
[9] Zoss, A., Kazerooni & Chu, A., "On the Mechanical Design of the
Berkeley Lower Extremity Exoskeleton (BLEEX)," in IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2005, pp.
3132-3139.
[10] Ferris, D. P., Gordon, K. E., Sawicki, G. S. & Peethambaran, A."An
Improved Powered Ankle-Foot Orthosis Using Proportional
Myoelectric Control," Journal of Gait and Posture, vol. 23, pp. 425-
428, 2005.
[11] Ferris, D. P., Sawicki, G. S. & Domingo, A."Powered lower limb
orthoses for gait rehabilitation," Top Spinal Cord Inj Rehabil, vol. 11,
pp. 34-39, 2005.
[12] Gordona, K. E., Sawicki, G. S. & Ferrisa, D. P."Mechanical
Performance of Artificial Pneumatic Muscles to Power an Ankle-Foot
Orthosis," Journal of Biomechanics, vol. 39, pp. 1832-1841, 2006.
[13] G. S. Sawicki and D. P. Ferris, "A Pneumatically Powered Knee-
Ankle-Foot orthosis (KAFO) With Myoelectric Activation and
Inhibition," Journal of NeuroEngineering and Rehabilitation, vol. 6,
pp. 1-16, 2009.
[14] Sawicki, G. S., Gordon, K. E. & Ferris, D. P."Powered Lower Limb
Orthoses: Applications in Motor Adaptation and Rehabilitation," in 9th
International Conference on Rehabilitation Robotics, Chicago, IL,
USA, 2005, pp. 206-211.
[15] Belforte, G., Gastaldi, L. & Sorli, M., "Pneumatic Active Gait
Orthosis," Journal of Mechatronics, vol. 11, pp. 301-323, 2001.
[16] Ruthenberg, B. J., Wasylewski, N. A. & Beard, J. E., "An Experimental
Device for Investigating the Force and Power Requirements of a
Powered Gait Orthosis," Journal of Rehabilitation Research and
Development, vol. 34, pp. 203-213, 1997.
[17] Jerry, E. P., Benjamin, T. K. & Christopher, J. M., "The Roboknee: An
Exoskleton for Enhancing Strength and Enharance During Walking," in
International Conference on Robotic & Automation, New Orleans,
2004, pp. 2430-2435.
[18] Meriam, J. L., Kraige, L. G. & Palm, W. J., Engineering Mechanics:
Dynamics, 5 ed.: John Wiley, 2001.
1] Tapus, A. & Matarić, M. J., "User Personality Matching with a Hands-
Off Robot for Post-stroke Rehabilitation Therapy," in Journal of
Experimental Robotics vol. 39, ed Heidelberg: Springer Berlin, 2008,
pp. 165-175.
[2] Moonhee, L., Matheson, R. & Hussein, A. A, "Design Issues for
Therapeutic Robot Systems: Results from a Survey of
Physiotherapists," Journal of Intelligent and Robotic Systems, vol. 42,
pp. 239-252, 2005.
[3] Kao, P.C, "Motor adaptation during dorsiflexion-assisted walking with
a powered orthosis," Journal of Gait and Posture, vol. 29, pp. 230-236,
2009.
[4] Sawicki, G. S., Domingo, A. & Ferris, D. P, "The Effects of Powered
Ankle-Foot Orthoses on Joint Kinematics and Muscle Activation
During Walking in Individuals With Incomplete spinal cord injury,"
Journal of NeuroEngineering and Rehabilitation, vol. 3, pp. 1-17,
2006.
[5] Kawamoto, H. & Sankai, Y., "Power Assist System HAL-3 for Gait
Disorder Person," in Computers Helping People with Special Needs.
vol. 2398/2002, ed Heidelberg: Springer Berlin, 2002, pp. 19-29.
[6] Kawainoto, H., Lee, S., Kanbe, S. & Sankai, Y., "Power Assist Method
for HAL-3 Using EMG-Based Feedback Controller," in Proceedings of
the IEEE International Conference on Systems, Man, and Cybernetics,
2003, pp. 1648-1653.
[7] Banala, S. K., Kulpe, A. & Agrawal, S. K., "A Powered Leg Orthosis
for Gait Rehabilitation of Motor-Impaired Patients," in IEEE
International Conference on Robotics and Automation, Roma, Italy,
2007, pp. 4140-4145.
[8] Kenta, S., Gouji, M., Hiroaki, K., Yasuhisa, H. & Yoshiyuki, S.,
"Intention-Based Walking Support for Paraplegia Patients with Robot
Suit HAL," Advanced Robotics, vol. 29, pp. 1441-1469, 2007.
[9] Zoss, A., Kazerooni & Chu, A., "On the Mechanical Design of the
Berkeley Lower Extremity Exoskeleton (BLEEX)," in IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2005, pp.
3132-3139.
[10] Ferris, D. P., Gordon, K. E., Sawicki, G. S. & Peethambaran, A."An
Improved Powered Ankle-Foot Orthosis Using Proportional
Myoelectric Control," Journal of Gait and Posture, vol. 23, pp. 425-
428, 2005.
[11] Ferris, D. P., Sawicki, G. S. & Domingo, A."Powered lower limb
orthoses for gait rehabilitation," Top Spinal Cord Inj Rehabil, vol. 11,
pp. 34-39, 2005.
[12] Gordona, K. E., Sawicki, G. S. & Ferrisa, D. P."Mechanical
Performance of Artificial Pneumatic Muscles to Power an Ankle-Foot
Orthosis," Journal of Biomechanics, vol. 39, pp. 1832-1841, 2006.
[13] G. S. Sawicki and D. P. Ferris, "A Pneumatically Powered Knee-
Ankle-Foot orthosis (KAFO) With Myoelectric Activation and
Inhibition," Journal of NeuroEngineering and Rehabilitation, vol. 6,
pp. 1-16, 2009.
[14] Sawicki, G. S., Gordon, K. E. & Ferris, D. P."Powered Lower Limb
Orthoses: Applications in Motor Adaptation and Rehabilitation," in 9th
International Conference on Rehabilitation Robotics, Chicago, IL,
USA, 2005, pp. 206-211.
[15] Belforte, G., Gastaldi, L. & Sorli, M., "Pneumatic Active Gait
Orthosis," Journal of Mechatronics, vol. 11, pp. 301-323, 2001.
[16] Ruthenberg, B. J., Wasylewski, N. A. & Beard, J. E., "An Experimental
Device for Investigating the Force and Power Requirements of a
Powered Gait Orthosis," Journal of Rehabilitation Research and
Development, vol. 34, pp. 203-213, 1997.
[17] Jerry, E. P., Benjamin, T. K. & Christopher, J. M., "The Roboknee: An
Exoskleton for Enhancing Strength and Enharance During Walking," in
International Conference on Robotic & Automation, New Orleans,
2004, pp. 2430-2435.
[18] Meriam, J. L., Kraige, L. G. & Palm, W. J., Engineering Mechanics:
Dynamics, 5 ed.: John Wiley, 2001.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:59574", author = "M.R. Safizadeh and M. Hussein and K. F. Samat and M.S. Che Kob and M.S. Yaacob and M.Z. Md Zain", title = "Kinematic Analysis of an Assistive Robotic Leg for Hemiplegic and Hemiparetic Patients", abstract = "The aim of this paper is to present the kinematic
analysis and mechanism design of an assistive robotic leg for
hemiplegic and hemiparetic patients. In this work, the priority is to
design and develop the lightweight, effective and single driver
mechanism on the basis of experimental hip and knee angles- data for
walking speed of 1 km/h. A mechanism of cam-follower with three
links is suggested for this purpose. The kinematic analysis is carried
out and analysed using commercialized MATLAB software based on
the prototype-s links sizes and kinematic relationships. In order to
verify the kinematic analysis of the prototype, kinematic analysis data
are compared with the experimental data. A good agreement between
them proves that the anthropomorphic design of the lower extremity
exoskeleton follows the human walking gait.", keywords = "Kinematic analysis, assistive robotic leg, lower extremity exoskeleton, cam-follower mechanism.", volume = "4", number = "12", pages = "1424-7", }
