Hardware Board Design and Simulation of Lower Limb Rehabilitation Robot
Keywords:
board, Rehabilitation robot, Microcontroller, Simulink, Intelligent System
Abstract
Today, the intelligent systems and robotics have turned to one of the most flourishing areas of research and technology development. Rehabilitation is one of non-pharmacological treatment within the public health system, which generally means restoring the capabilities to the maximum independence. The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work.; There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient freedom in motion. Hence, it is clearly necessary to use Mechatronic technologies in rehabilitation area.This study aims to describe the functionality of its hardware and software board controller in performing patients’ rehabilitation. Simulation has been done using Simulink MATLAB. Furthermore pulse-width modulation method is used to program ATmega16 microcontroller to control mechanical part of robots.References
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[2]S.Banala, S.Agrawal and J.Scholz, Active Link Exoskeleton (ALEX) for Gait Rehabilitation of Motor-Impaired Patients , Proc. IEEE 10th International Conference on Rehabilitation Robotics, pp. 401-407, 2007.
[3]J. Veneman, R. Kruidhof, E. Hekman, R. Ekkelenkamp, E. Van Asseldonk and H. Van Der Kooij, Design and evaluation of the LOPESexoskeleton robot for interactive gait rehabilitation, IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 15, No.3, pp. 379-386, 2007.
[4]Y.H. Tsoi, S.Q. Xie, Impedance Control of Ankle Rehabilitation Robot, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, 2008,pp. 840–845.
[5]ErhanAkdo˘ gan, Mehmet ArifAdli , The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot , Mechatronics 21 (2011) 509–522.
[6]Jiménez-Fabián,O.Verlinden , Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons . Service de MécaniqueRationnelle, Dynamiqueet Vibrations, FacultéPolytechnique, Université de Mons, Belgium. doi:10.1016/j.medengphy.2011.11.018.
[7]Yoshikawa T. Foundations of robotics: analysis and control . Cambridge: MIT Press; 2007.
[8]Hogan N," Impedance control: an approach to manipulators": Part 1, 2, 3. J DynSystMeas Control 107:1–24. doi:10.1115/1.3140702.
[9]Natasa Koceska,Saso Koceski, Pierluigi Beomonte Zobel,Francesco Durante, Control Architecture for a Lower Limbs Rehabilitation Robot System, Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok, Thailand, February 21 - 26, 2009.
Published
2016-10-31
How to Cite
Abdezadeh, S., Saadi, D., Tohidirad, Y., Rashidy, R., & Soltani Aliabadi, Z. (2016). Hardware Board Design and Simulation of Lower Limb Rehabilitation Robot. Majlesi Journal of Mechatronic Systems, 5(3). Retrieved from https://ms.majlesi.info/index.php/ms/article/view/279
Section
Articles
