Design and Robust Motion Control of a Planar 1P-2P RP Hybrid Manipulator for Lower Limb Rehabilitation Applications | Journal of Intelligent & Robotic Systems Skip to main content

Advertisement

Springer Nature Link
Log in

Design and Robust Motion Control of a Planar 1P-2P RP Hybrid Manipulator for Lower Limb Rehabilitation Applications

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

This paper addresses a robust motion control design of a planar 1P-2P RP hybrid manipulator for performing the lower limb rehabilitation treatments. The effectiveness and performances of the proposed system along with the motion control scheme is demonstrated using the real-time experiments. Further the robustness and sensitivity of the proposed control scheme is analyzed under different working conditions. In addition, the applicability of the proposed system is demonstrated successfully on an in-house fabricated prototype as a continuous passive sitting type lower limb rehabilitation mechanism in terms of clinical gait pattern generation and the gait-tracking task.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Merlet, J.P.: Parallel robots. Springer, Berlin (2016)

    MATH  Google Scholar 

  2. Briot, S., Bonev, I.A.: Are parallel robots more accurate than serial robots?. Trans. Can. Soc. Mech. Eng. 31(4), 445–455 (2007)

    Article  Google Scholar 

  3. Joubair, A., Slamani, M., Bonev, I.A.: A novel XY-Theta precision table and a geometric procedure for its kinematic calibration. Robot. Comput. Integr. Manuf. 28(1), 57–65 (2012)

    Article  Google Scholar 

  4. Bonev, I.A.: Planar parallel mechanism and method. US Patent 7707907, B2 (2010)

    Google Scholar 

  5. Yu, A., Bonev, I.A., Murray, P.Z.: Geometric approach to the accuracy analysis of a class of 3 DOF planar parallel robots. Mech. Mach. Theory 43, 364–375 (2008)

    Article  Google Scholar 

  6. Rezaei, A., Akbarzadeh, A.: Position and stiffness analysis of a new asymmetric 2PRR-PPR parallel CNC machine. Adv. Robot. 27(2), 133–145 (2013)

    Article  Google Scholar 

  7. Belda-Lois, J.M., Horno, S.M., Bermejo-Bosch, I.: Rehabilitation of gait after stroke: a review towards a top-down approach. J. Neuroeng. Rehabil. 8, 66 (2011)

    Article  Google Scholar 

  8. Lawrence, E.S., Coshall, C., Dundas, R., Stewart, J., Rudd, A.G., Howard, R., Wolfe, C.D.: Estimates of the prevalence of acute stroke impairments and disability in a multiethnic population. Stroke. 32(6), 1279–1284 (2001)

    Article  Google Scholar 

  9. Azuwan, M., Dzahir, M., Yamamoto, S.: Recent trends in lower-limb robotic rehabilitation orthosis: Control scheme and strategy for pneumatic muscle actuated gait trainers. Robotics 3, 120–148 (2014)

    Article  Google Scholar 

  10. Kwakkel, G., Kollen, B, Wagenaar, R: Long term effects of intensity of upper and lower limb training after stroke: A randomised trial. J. Neurol. Neurosurg. Psychiatry 72(4), 473–479 (2002)

    Google Scholar 

  11. Takeuchi, N., Izumi, S.: Rehabilitation with poststroke motor recovery: A review with a focus on neural plasticity. Stroke Research and Treatment 2013(128641), 1–13 (2013)

    Article  Google Scholar 

  12. D’iaz, I., Gil, J.J., S’anchez, E.: Lower-limb robotic rehabilitation: Literature review and challenges. J. Robot. 2011(759764), 1–11 (2011)

    Google Scholar 

  13. Lyu, M., Chen, W., Ding, X., Wang, J., Bai, S., Ren, H.: Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation featured. Rev. Sci. Instrum. 87, 104301–1–104301-12 (2016)

    Article  Google Scholar 

  14. Schmitt, C., Metrailler, P., Al-Khodairy, A.: The motion maker: a rehabilitation system combining an orthosis with closed-loop electrical muscle stimulation. In: Proceedings of the 8th Vienna international workshop on functional electrical stimulation, Vienna, Austria, pp 117–120 (2004)

  15. Akdoan, E., Adli, M.A.: The Design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot. Mechatronics 21(3), 509–522 (2011)

    Article  Google Scholar 

  16. Monaco, V., Galardi, G., Coscia, M., Martelli, D., Micera, S.: Design and evaluation of NEUROBike: A neurorehabilitative platform for bedridden post-stroke patients. IEEE Trans. Neural Syst. Rehabil. Eng. 20(6), 845–852 (2012)

    Article  Google Scholar 

  17. Bouri, M., Gall, B.L., Clavel, R.: A new concept of parallel robot for rehabilitation and fitness: the lambda. In: Proceedings of the IEEE international conference on robotics and biomimetics (ROBIO 09), Bangkok, Thailand, pp 2503–2508 (2009)

  18. Mohanta, J.K., Saxena, C., Gupta, G., Santhakumar, M.: Kinematic analysis of a passive sitting/lying type lower limb rehabilitation robot. In: Proceedings of the 2nd international conference on machines and mechanisms, Kanpur, India, pp 1–12 (2015)

  19. Lim, F.M., Foong, R., Yu, H.: A supine gait training device for stroke rehabilitation. J. Med. Dev. 8 (2), 512–515 (2014). https://doi.org/10.1115/1.4027026

    Google Scholar 

  20. Mohan, S., Mohanta, J.K., Kurtenbach, S., Paris, J., Corvesand, B., Huesing, M.: Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies. Mech. Mach. Theory 112, 272–294 (2017)

    Article  Google Scholar 

  21. Mohanta, J.K., Santhakumar, M.: A 4PRP redundant parallel planar manipulator for the purpose of lower limb rehabilitationm, Advancements in Automation Robotics and Sensing, pp. 53–62 (2016)

  22. Neuhaus, P.D., Noorden, J.H., Craig, T.J., Torres, T., Kirschbaum, J., Pratt, J.E.: Design and evaluation of Mina: A robotic orthosis for paraplegics. In: 2011 IEEE international conference on rehabilitation robotics, Zurich, pp 1–8 (2011)

  23. Aguirre-Ollinger, G.: Exoskeleton control for lower-extremity assistance based on adaptive frequency oscillators: adaptation of muscle activation and movement frequency. Proc Inst Mech Eng H 229, 52–68 (2015)

    Article  Google Scholar 

  24. Meng, W., Liu, Q., Zhou, Z., Ai, Q., Sheng, B., Xie, S.: Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation. Mechatronics 31, 132–145 (2015)

    Article  Google Scholar 

  25. Li, N., Yan, L., Qian, H., Wu, H., Wu, J., Men, S.: Review on lower extremity exoskeleton robot. The Open Automation and Control Systems Journal 7, 441–453 (2015)

    Google Scholar 

  26. Stansfield, B.W., Hillman, S.J., Hazlewood, M.E., Robb, J.E.: Regression analysis of gait parameters with speed in normal children walking at self-selected speeds. Gait & Posture 23, 288–294 (2006)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robotics Application Engineer - Technical Lead, Kawasaki Heavy Industries Pvt Ltd, Chennai, India

    M. Vasanthakumar

  2. Robotics and Automation Engineering, PSG College of Technology, Coimbatore, India

    B. Vinod

  3. Discipline of Mechanical Engineering, Indian Institute of Technology Indore, Indore, India

    J. K. Mohanta & S. Mohan

Authors
  1. M. Vasanthakumar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. B. Vinod
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. J. K. Mohanta
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. S. Mohan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to S. Mohan.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

(NOTE: Here P stands for Prismatic and R stands for rotary joint, underline indicates the actuated or powered joint)

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Vasanthakumar, M., Vinod, B., Mohanta, J.K. et al. Design and Robust Motion Control of a Planar 1P-2P RP Hybrid Manipulator for Lower Limb Rehabilitation Applications. J Intell Robot Syst 96, 17–30 (2019). https://doi.org/10.1007/s10846-018-0972-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-018-0972-8

Keywords

Search

Navigation