BACKGROUND: To provide effective rehabilitation in the early post-injury stage, a novel robotic rehabilitation platform is proposed, which provides full-body arm-leg rehabilitation via belt actuation to severely disabled patients who are restricted to bed rest. OBJECTIVE: To design and technically evaluate the preliminary development of the rehabilitation platform, with a focus on the generation of various leg movements. METHODS: Two computer models were developed by importing the components from SolidWorks into Simscape Multibody in MATLAB. This allowed simulation of various stepping movements in supine-lying and side-lying positions. Two belt-actuated test rigs were manufactured and automatic control programs were developed in TIA Portal. Finally, the functionality of the test rigs was technically evaluated. RESULTS: Computer simulation yielded target positions for the generation of various stepping movements in the experimental platforms. The control system enabled the two-drive test rig to provide three modes of stepping in a supine position. In addition, the four-drive test rig produced walking-like stepping in a side-lying position. CONCLUSIONS: This work confirmed the feasibility of the mechanical development and control system of the test rigs, which are deemed applicable for further development of the overall novel robotic rehabilitation platform.


    Access

    Download


    Export, share and cite



    Title :

    Preliminary development and technical evaluation of a belt-actuated robotic rehabilitation platform


    Contributors:

    Publication date :

    2021-07-24


    Remarks:

    Fang, Juan; Schuwey, Andras; Stocker, Niklaus; Pedrini, Brian; Sampaio, Antonio; Hunt, Kenneth James (2021). Preliminary development and technical evaluation of a belt-actuated robotic rehabilitation platform Technology and Health Care, 29(3), pp. 595-607. 10.3233/THC-202392


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Spherical pneumatic actuated robotic commuter

    THIELMAN GERHARD W | European Patent Office | 2017

    Free access

    Functional Design of a Novel Over-Actuated Mobile Robotic Platform for Assistive Tasks

    Carbonari, Luca / Botta, Andrea / Cavallone, Paride et al. | TIBKAT | 2020


    Robotic Arm Actuated by Electroactie Polymers

    Bar-Cohen, Y. / Xue, T. / Shaninpoor, M. et al. | NTRS | 1998


    Preliminary structural analysis of an active exoskeleton for robotic neuro-rehabilitation

    Belforte G. / Raparelli T. / Eula G. et al. | BASE | 2020

    Free access