Name
Title | ||
|---|---|---|
Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles. |
Abstract | ||
|---|---|---|
The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.3390/s19030548 | SENSORS |
Keywords | Field | DocType |
EMG signal,master-slave control,muscle exercises,pedal-actuated wheelchair,assistive robots | Wheelchair,Electromyography,Electronic engineering,Gluteus medius muscle,Exoskeleton Device,Exoskeleton,Artificial intelligence,Physical medicine and rehabilitation,Engineering,Joystick,Robotics,Medius | Journal |
Volume | Issue | ISSN |
19 | 3.0 | 1424-8220 |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gao Huang | 1 | 875 | 53.36 |
| Marco Ceccarelli | 2 | 170 | 43.95 |
| Qiang Huang | 3 | 266 | 91.95 |
| Weimin Zhang | 4 | 72 | 21.91 |
| Zhangguo Yu | 5 | 46 | 19.12 |
| Xuechao Chen | 6 | 46 | 19.24 |
| Jingeng Mai | 7 | 0 | 0.34 |