Design and analysis of a multi-DOF compliant gait rehabilitation robot

Yinan Jin, Prashant K. Jamwal, Roland Goecke, Mergen H. Ghayesh, Shahid Hussain

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

Robot-assisted rehabilitation is a rapidly advancing field whereby robotic devices are used for the treatment of disabilities. Mechanism design and actuation of these devices play important roles in the treatment and the non-ergonomic designs may even increase the cardiorespiratory load and cause discomfort leading to further gait disorders. This article identifies crucial design and actuation aspects of gait rehabilitation robots and presents the first intrinsically compliant gait robot design with three actuated and five passive degrees of freedom, alleviating the prevalent issues. The gait robot joints remain aligned with the human anatomical joints during the swing and the stance phases due to the use of special bushes and dampers. The intrinsically compliant actuators on the new gait robot make it safe to work with human subjects. Increased degrees of freedom allow for natural walking dynamics instead of canceling or constraining them. The robot firmware, including the kinematic modeling, is designed using multiple adaptive neuro-fuzzy inference system to save on the computational time of the robot controller. The new robot design is finally validated for its intended use in gait rehabilitation, by employing a fuzzy logic controller and evaluating the position, velocity, and acceleration profiles of its joints.

Original languageEnglish
Pages (from-to)4009-4034
Number of pages26
JournalMechanics Based Design of Structures and Machines
Volume52
Issue number7
DOIs
Publication statusPublished - 2024

Keywords

  • and fuzzy logic controller
  • compliant actuation
  • fast kinematic analysis
  • Gait rehabilitation
  • gravity balancing
  • orthosis
  • robot
  • self-alignment

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • General Mathematics
  • Automotive Engineering
  • Aerospace Engineering
  • Condensed Matter Physics
  • Ocean Engineering
  • Mechanics of Materials
  • Mechanical Engineering

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