ICRA'09 Paper Abstract


Paper FrB12.2

Kong, Kyoungchul (University of California, Berkeley), Baek, Chulhyun (University of California, Berkeley), Tomizuka, Masayoshi (University of California)

Design of a Rehabilitation Device Based on a Mechanical Link System

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics - II" (FrB12), Friday, May 15, 2009, 10:50−11:10, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Rehabilitation Robotics, Kinematics, Mechanism Design


Realizing an ideal impedance control system in lower extremity rehabilitation systems is challenged by mechanical impedance of robot hardware. Although some studies in the field of control systems have been helpful in reducing the mechanical impedance of actuators, they have not been able to remove the inertia of robot hardware. This paper introduces an alternative design in which mechanical links are utilized. The mechanical links are driven by one actuator without any complicated servo systems. The design parameters were optimized for the link system to generate the normal walking motion. The simulation data shows that the normal gait patterns are realized successfully. The device is connected to a patient using elastic components, and therefore the inertia of the robot is not directly imposed on the patient. The patientís legs are guided to follow the motion of the robot with the forces generated by the elastic components.



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