Design and analysis of a multi-DOF compliant gait rehabilitation robot
Jin Y. Jamwal P.K. Goecke R. Ghayesh M.H. Hussain S.
2024Taylor and Francis Ltd.
Mechanics Based Design of Structures and Machines
2024#52Issue 74009 - 4034 pp.
Robot-assisted rehabilitation is a rapidly advancing field whereby robotic devices are used for the treatment of disabilities. Mechanism design and actuation of these devices play important roles in the treatment and the non-ergonomic designs may even increase the cardiorespiratory load and cause discomfort leading to further gait disorders. This article identifies crucial design and actuation aspects of gait rehabilitation robots and presents the first intrinsically compliant gait robot design with three actuated and five passive degrees of freedom, alleviating the prevalent issues. The gait robot joints remain aligned with the human anatomical joints during the swing and the stance phases due to the use of special bushes and dampers. The intrinsically compliant actuators on the new gait robot make it safe to work with human subjects. Increased degrees of freedom allow for natural walking dynamics instead of canceling or constraining them. The robot firmware, including the kinematic modeling, is designed using multiple adaptive neuro-fuzzy inference system to save on the computational time of the robot controller. The new robot design is finally validated for its intended use in gait rehabilitation, by employing a fuzzy logic controller and evaluating the position, velocity, and acceleration profiles of its joints.
and fuzzy logic controller , compliant actuation , fast kinematic analysis , Gait rehabilitation , gravity balancing , orthosis , robot , self-alignment
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Human-Centred Technology Research Centre, University of Canberra, Canberra, ACT, Australia
School of Electrical and Computer Engineering, Nazarbayev University, Astana, Kazakhstan
School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia
Human-Centred Technology Research Centre
School of Electrical and Computer Engineering
School of Electrical and Mechanical Engineering
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