Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System

In response to the ever-increasing demand of lower limb rehabilitation, this paper presents a novel robot-assisted gait trainer (RGT) to assist the elderly and the pediatric patients with neurological impairments in the lower limb rehabilitation training (LLRT). The RGT provides three active degrees...

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Autores principales:	Jiancheng (Charles) Ji, Yufeng Wang, Guoqing Zhang, Yuanyuan Lin, Guoxiang Wang
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Medicine (General) R5-920 Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/f0c382f9582241169b553c51115d7525
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spelling	oai:doaj.org-article:f0c382f9582241169b553c51115d75252021-11-29T00:55:26ZDesign and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System2040-230910.1155/2021/2750936https://doaj.org/article/f0c382f9582241169b553c51115d75252021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/2750936https://doaj.org/toc/2040-2309In response to the ever-increasing demand of lower limb rehabilitation, this paper presents a novel robot-assisted gait trainer (RGT) to assist the elderly and the pediatric patients with neurological impairments in the lower limb rehabilitation training (LLRT). The RGT provides three active degrees of freedom (DoF) to both legs that are used to implement the gait cycle in such a way that the natural gait is not significantly affected. The robot consists of (i) the partial body weight support (PBWS) system to assist patients in sit-to-stand transfer via the precision linear rail system and (ii) the bipedal end-effector (BE) to control the motions of lower limbs via two mechanical arms. The robot stands out for multiple modes of training and optimized functional design to improve the quality of life for those patients. To analyze the performance of the RGT, the kinematic and static models are established in this paper. After that, the reachable workspace and motion trajectory are analyzed to cover the motion requirements and implement natural gait cycle. The preliminary results demonstrate the usability of the robot.Jiancheng (Charles) JiYufeng WangGuoqing ZhangYuanyuan LinGuoxiang WangHindawi LimitedarticleMedicine (General)R5-920Medical technologyR855-855.5ENJournal of Healthcare Engineering, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine (General) R5-920 Medical technology R855-855.5
spellingShingle	Medicine (General) R5-920 Medical technology R855-855.5 Jiancheng (Charles) Ji Yufeng Wang Guoqing Zhang Yuanyuan Lin Guoxiang Wang Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
description	In response to the ever-increasing demand of lower limb rehabilitation, this paper presents a novel robot-assisted gait trainer (RGT) to assist the elderly and the pediatric patients with neurological impairments in the lower limb rehabilitation training (LLRT). The RGT provides three active degrees of freedom (DoF) to both legs that are used to implement the gait cycle in such a way that the natural gait is not significantly affected. The robot consists of (i) the partial body weight support (PBWS) system to assist patients in sit-to-stand transfer via the precision linear rail system and (ii) the bipedal end-effector (BE) to control the motions of lower limbs via two mechanical arms. The robot stands out for multiple modes of training and optimized functional design to improve the quality of life for those patients. To analyze the performance of the RGT, the kinematic and static models are established in this paper. After that, the reachable workspace and motion trajectory are analyzed to cover the motion requirements and implement natural gait cycle. The preliminary results demonstrate the usability of the robot.
format	article
author	Jiancheng (Charles) Ji Yufeng Wang Guoqing Zhang Yuanyuan Lin Guoxiang Wang
author_facet	Jiancheng (Charles) Ji Yufeng Wang Guoqing Zhang Yuanyuan Lin Guoxiang Wang
author_sort	Jiancheng (Charles) Ji
title	Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
title_short	Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
title_full	Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
title_fullStr	Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
title_full_unstemmed	Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System
title_sort	design and simulation analysis of a robot-assisted gait trainer with the pbws system
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/f0c382f9582241169b553c51115d7525
work_keys_str_mv	AT jianchengcharlesji designandsimulationanalysisofarobotassistedgaittrainerwiththepbwssystem AT yufengwang designandsimulationanalysisofarobotassistedgaittrainerwiththepbwssystem AT guoqingzhang designandsimulationanalysisofarobotassistedgaittrainerwiththepbwssystem AT yuanyuanlin designandsimulationanalysisofarobotassistedgaittrainerwiththepbwssystem AT guoxiangwang designandsimulationanalysisofarobotassistedgaittrainerwiththepbwssystem
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Design and Simulation Analysis of a Robot-Assisted Gait Trainer with the PBWS System

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