A new gravity compensation mechanism for lower limb rehabilitation
A new gravity compensation mechanism for lower limb rehabilitation
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DOI：
10.1109/icma.2009.5246352
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发表时间：
2009-09
期刊：
影响因子：
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通讯作者：
T. Nakayama;Yousuke Araki;H. Fujimoto
中科院分区：
文献类型：
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作者：
T. Nakayama;Yousuke Araki;H. Fujimoto
本文提出了一种适用于可穿戴下肢康复系统的新型机械重力补偿机构。虽然之前的重力补偿系统也可以完美地补偿施加在每个关节上的重力力矩，但如果应用于可穿戴康复系统，则其安全性不够，因为弹簧和电线必须在关节上方的四肢之间勉强拉伸。在所提出的系统中，产生重力补偿扭矩的机构完全嵌入连杆主体中，因此可以说所提出的重力补偿系统比以前的系统更安全。通过一些计算机模拟和使用实际设备的实验来检验所提出的机构的重力补偿能力以及所提出的系统作为下肢康复系统的有效性。
This paper proposes a new mechanical gravity compensation mechanism suitable for the wearable lower limb rehabilitation system. Although the previous gravity compensation systems can also compensate the gravitational moment exerting on each joint perfectly, they are not sufficiently safe if they are applied to the wearable rehabilitation systems because the springs and wires must be barely stretched between the limbs over the joints. In the proposed system, the mechanisms to generate the gravity compensation torques are totally embedded in the link body, so that it can be said that the proposed gravity compensation systems are safer than previous ones. The gravity compensation ability of the proposed mechanism and the effectiveness of the proposed system as a lower limb rehabilitation system are examined by some computer simulations and experiment using the actual equipment.