MATHEMATICAL MODELING AND SIMULATION OF A 3 DOFS LOWER LIMB REHABILITATION ROBOT FOR POST-STROKE PATIENT
Stroke is a sickness that has a high potential of causing disability in the aged. Post-stroke patients can improve their motional functions by the rehabilitation program. With the development of science and technology, rehabilitation exercises can be performed by robots. This paper presents the process of modeling the mathematical model of a 3 degree of freedom (DOF) lower limb rehabilitation, including: kinematic and dynamic model, friction model and motor model. The simulation in MATLAB/Simulink is also carried out to show accuracy and suitability with the physical characteristics of the system model. This result is used to propose control strategies for robot in next studies.
Williams GR, Jiang JG, Matchar DB, Samsa GP,Incidence and occurrence of total (first-ever and recurrent) stroke.Stroke1999,30(12), pp. 2523-2528.
Lawrence ES, Coshall C, Dundas R, Stewart J, Howard R and Wolfe CD,Estimates of the prevalence of acute stroke impairments and disability in a multiethnic population.Stoke 2001, 32(6), pp. 1279-84.
Mirelman A, Bonato P, Deutsch JE. Effects of training with a robot-virtual reality system compared with a robot alone on the gait of individual after stroke. Stroke 2009; 40(1), pp. 169–174.
Thielman GT, Dean CM, Gentile AM,Rehabilitation of reaching after stroke: Task-related training versus progressive resistive exercise.Arch Phys Med Rehabil 2004,; 85(10), pp. 1613–1618.
Langhorne P, Coupar F, Pollock A,Motor recovery after stroke: a systematic review. Lancet Neurol 2009; 8(8), pp.741–754.
Bradley D, Acosta-Marquez C, Hawley M, Brownsell S, Enderby P, Mawson S,NEXOS -the design, development and evaluation of a rehabilitation system for the lower limbs. Mechatronics 2009; 19(2), pp. 247–257.
Mayr A, Kofler M, Quirbach E, Matzak H, Frohlich K, Saltuari L,Prospective, blinded, randomized cross over study of gait rehabilitation in stroke patients using the lokomat gait orthosis.Neurorehabil Neural Repair 2007,21(4), pp. 307–314.
Freivogel S, Mehrholz J, Husak-Sotomayor T, Schmalohr D,Gait training with the newly developed ‘LokoHelp’-system is feasible for non-ambulatory patients after stroke, spinal cord and brain injury. A feasibility study. Brain Injury 2008, Vol.22, pp. 625–632.
Banala S K, Kim S H, Agrawal S K, Scholz J P, Robot assisted gait training with active legexoskeleton (alex).IEEE Trans Neural Syst Rehabil Eng, 2009; 17(1), pp. 2–8.
Veneman J F, Kruidhof R, Hekman E E G, Ekkelenkamp R, Van Asseldonk EHF, vander KooijH,Design and evaluation of the lopes exoskeleton robot for interactive gait rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2007,15(3), pp. 379–386.
Requan Lu, Zhijun Li, Chun-Yi Su and Anke Xue. Development and learning Control of a Human Limb with a rehabilitation Exoskeleton. IEEE Transactions on Industrial Electronics Vol. 61 N0.7, July 2014, 3776-3785.
Chao Zhang, Gangfeng Liu, Changle Li, Jie Zhao, Hongying Yu and Yanhe Zhu. Development of a lower limb rehabilitation exoskeleton based on real-time gait detection and gait tracking. Advances in Mechanical Enginering 2016, Vol. 8(1), pp. 1-9.
Bradley D, Acosta-Marquez C, Hawley M, Brownsell S, Enderby P, Mawson S,NEXOS - the design, development and evaluation of a rehabilitation system for the lower limbs.Mechatronics, 2009,Vol.19, No.2, pp. 247–257.
Okada S, Sakaki T, Hirata R, Okajima Y, Uchida S, Tomita Y, Tem: atherapeu-tic exercise machine for the lower extremities of spastic patients. Adv Robot 2000, Vol.14, No.7, pp. 597–606.
Libo Zhou, Weihai Chen, Jianhua Wang, Jingmeng Liu. Design of a Lower Limb Rehabilitation Robot Based on 3-RPR Parallel Mechanis. 29th Chinese Control And Decision Conference, 2017, pp. 7539 – 7544.
Jinwu Gao, Junpeng Wu, Rong Song, Rihui Li, Yaning Li, Lelun Jiang,The design and control of a 3DOF lower linb rehabilitation robot.Elsevier Ltd, Mechatronics 2016, Vol.33, pp. 13-22.
J.K. Mohanta, S. Mohana, P. Deepasundar, R. Kiruba-Shankar,Development and control of a new sitting-type lower limb rehabilitation robot. Elsevier Ltd, Computers and Electrical Engineering 2017, Vol.0, pp. 1-18.
Lung-Wen Tsai, Robot analysis-The Mechanics of Serial and Parallel Manipulators.¬¬ A Wiley-Interscience Publication, 1999.