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Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the...
This paper presents an assistant laparoscopic robot with active and passive joints for helping surgeon in minimally invasive surgery. With the character of passive joints, a method to locate the relative position of patient's puncture to the coordinate system of the robot was provided. Through geometric relationship, the coordinates of patient's puncture were measured, and laparoscope posture is offered...
This paper is devoted to design a robot control system for assisting in the rehabilitation of patients who suffer from debilitating illness such as stroke. The rehabilitation robot discussed in this subject is able to guide patient's wrist to move along planned trajectory in both horizontal and vertical plane, and train the elbow joint as well as shoulder joint. Increasingly the robot requires interacting...
Rehabilitative robot is a new technology that has been developed rapidly. The robot is used to rehabilitate patients whose arms are injured or have difficulty in movement. The robot can move the disable arm in both horizontal and vertical plane, and train the shoulder joint and elbow joint. The human arm is simplified to rigid bodies and rotors. The robot's structure and dynamics are analyzed. Including...
Assistant robotic leg is a kind of robot designed for patients whose legs are injured or have difficulty in movement due to illness (i.e., diabetes, after-illness of the thrombus, etc). Each side leg has one degrees-of freedom motion at the hip and one degree-of-freedom at the knee. It is tied to the patient's two legs to help them practice walking. Based on generalized coordinates, the kinematical...
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