The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of ...The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological （MR） damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee＇s healthy leg based on semi-active control of the MR damper.展开更多
The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas.To lay the theoretical foundation for the research and design of agriculture walkin...The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas.To lay the theoretical foundation for the research and design of agriculture walking mechanism,the Phantom Camera Control software was used to measure the anterior and posterior joint angle of a goat walking on different slopes.Foot pressure was measured by the film pressure sensor.The result of joint motion sequence,range of motion,and change of range showed that the fitting degree of the measured value was accurate.As the goat walking speed increased,the level of the hind limb angle changed to ensure itself stability.When the goat is walking,the forelimbs bear more weight than the hind limbs due to the different static and physiological structures of the front and rear legs.The key parameters of gait on different slopes were analyzed.The curve of angle change of legs was measured and analyzed when the goat is walking in slope.The results showed that,with the increase of the slope gradient,the anterior hip angle ranges from 83.3°to 117.1°,the posterior hip angle ranges at 120.3°-173.1°,the left knee angle ranges from 91.3°to 170.1°,the right knee angle is roughly the same as its range of variation.When the slope increased,the pressure change of left hind foot was consistent with that of the right anterior foot,and the pressure change of right hind foot was consistent with that of the left anterior foot.This demonstrated the theory of diagonal gait.Meanwhile,with the change of the slope,the plantar pressure of the limbs changes periodically.The research results verified the rationality of the four-legged bionic mechanism under various parameters,which can provide a theoretical basis for the design of agricultural walking mechanism to adapt different slopes in the hilly and mountainous areas.展开更多
Different from limb rehabilitation training,the purpose of muscle strength training is to reduce muscle atrophy and increase muscle strength and tolerance through strength training of limb muscles,and then improve the...Different from limb rehabilitation training,the purpose of muscle strength training is to reduce muscle atrophy and increase muscle strength and tolerance through strength training of limb muscles,and then improve the muscle strength level of muscles(groups),mainly for sports fitness and muscle strengthening groups and patients with muscle atrophy or muscle weakness caused by various diseases.In this paper,we developed a new reconfigurable muscle strength training robot,a bionic robot by imitating physicians to conduct muscle strength training for patients,which was developed with six training modes for 17 joint movements,that is,the shoulder flexion/extension,the shoulder internal/external rotation,the shoulder adduction/abduction,the elbow flexion/extension,the wrist supination/pronation,the wrist flexion/extension,the wrist radial/ulnar deviation,the hip flexion/extension,the hip internal/external rotation,the hip adduction/abduction,the knee flexion/extension,the ankle dorsiflexion/plantarflexion,the ankle adduction/abduction,the ankle inversion/eversion,the waist flexion/extension,the waist left/right rotation,and the waist left/right flexion.The reconfigurable mechanism was designed with fully electric adjuster and reconfigurable adaptors deployed on the driving unit,and six training modes were developed,namely,continuous passive motion,active exercise,passive–active exercise,isotonic exercise,isometric exercise and isokinetic exercise.Experiments with knee joint and elbow joint have shown that the developed reconfigurable muscle strength training robot can realize the multi-mode trainings for the 17 joint movements.展开更多
基金supported by China Postdoctoral Science Foundation(No. 20080441093)Key Laboratory Foundation of Liaoning Province(No. 2008S088)Postdoctoral Science Foundation of Northeastern University (No. 20080411)
文摘The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological （MR） damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee＇s healthy leg based on semi-active control of the MR damper.
基金The authors acknowledge that this research was financially supported by the National Natural Science Foundation of China(Grant No.51675163)Scientific and Technological Project of Henan Province(Grant No.152102210190,162102210202)+1 种基金Foundation for University Young Key Teacher of Henan Province(Grant No.2017GGJS062)the postdoctoral fund of Henan Province(Grant No.2012086).
文摘The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas.To lay the theoretical foundation for the research and design of agriculture walking mechanism,the Phantom Camera Control software was used to measure the anterior and posterior joint angle of a goat walking on different slopes.Foot pressure was measured by the film pressure sensor.The result of joint motion sequence,range of motion,and change of range showed that the fitting degree of the measured value was accurate.As the goat walking speed increased,the level of the hind limb angle changed to ensure itself stability.When the goat is walking,the forelimbs bear more weight than the hind limbs due to the different static and physiological structures of the front and rear legs.The key parameters of gait on different slopes were analyzed.The curve of angle change of legs was measured and analyzed when the goat is walking in slope.The results showed that,with the increase of the slope gradient,the anterior hip angle ranges from 83.3°to 117.1°,the posterior hip angle ranges at 120.3°-173.1°,the left knee angle ranges from 91.3°to 170.1°,the right knee angle is roughly the same as its range of variation.When the slope increased,the pressure change of left hind foot was consistent with that of the right anterior foot,and the pressure change of right hind foot was consistent with that of the left anterior foot.This demonstrated the theory of diagonal gait.Meanwhile,with the change of the slope,the plantar pressure of the limbs changes periodically.The research results verified the rationality of the four-legged bionic mechanism under various parameters,which can provide a theoretical basis for the design of agricultural walking mechanism to adapt different slopes in the hilly and mountainous areas.
基金supported in part by the National Key R&D Program of China(No.2018YFB1307004)in part by the National Natural Science Foundation of China(Nos.61903011 and 52175001)。
文摘Different from limb rehabilitation training,the purpose of muscle strength training is to reduce muscle atrophy and increase muscle strength and tolerance through strength training of limb muscles,and then improve the muscle strength level of muscles(groups),mainly for sports fitness and muscle strengthening groups and patients with muscle atrophy or muscle weakness caused by various diseases.In this paper,we developed a new reconfigurable muscle strength training robot,a bionic robot by imitating physicians to conduct muscle strength training for patients,which was developed with six training modes for 17 joint movements,that is,the shoulder flexion/extension,the shoulder internal/external rotation,the shoulder adduction/abduction,the elbow flexion/extension,the wrist supination/pronation,the wrist flexion/extension,the wrist radial/ulnar deviation,the hip flexion/extension,the hip internal/external rotation,the hip adduction/abduction,the knee flexion/extension,the ankle dorsiflexion/plantarflexion,the ankle adduction/abduction,the ankle inversion/eversion,the waist flexion/extension,the waist left/right rotation,and the waist left/right flexion.The reconfigurable mechanism was designed with fully electric adjuster and reconfigurable adaptors deployed on the driving unit,and six training modes were developed,namely,continuous passive motion,active exercise,passive–active exercise,isotonic exercise,isometric exercise and isokinetic exercise.Experiments with knee joint and elbow joint have shown that the developed reconfigurable muscle strength training robot can realize the multi-mode trainings for the 17 joint movements.
