TY - GEN
T1 - Kinematic Analysis of the Bio-inspired Design of a Wearable Compliant Gait Rehabilitation Robotic System for Smart and Connected Health
AU - Mizanoor Rahman, S. M.
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - The design of a novel actuator VIC-SEATS (Variable Impedance Compliant Series Elastic Actuator with Two Springs) is introduced and the static and kinematic characteristics of the soft actuator for a targeted application of actuating the knee joint of a gait rehabilitation robot is presented. Targeted novelties of the actuator design are that it is designed with only one motor and two sets of springs in series that can adjust the stiffness for low, medium and high force situations without any change in the springs, it is light in weight, compact in size but enough strong due to proposed fabrication with advanced materials, and it has competitive advantages such as high force controllability, force bandwidths, back-drivability, efficiency, safety, power/mass and force/mass ratios and output torque, and low friction, inertia and impedance. The electro-mechanical design, prospective fabrication materials and working mechanisms of the novel actuator design are summarized. Based on simulation results, the design parameters are optimized to determine desired static and kinematic features such as torque trajectory, torque-displacement relationship, velocity profile and required power/energy for actuating the knee joint of a gait rehabilitation robot through comparing these characteristics with the human characteristics. Then, applications of hand-held gaming interface to display key rehabilitation performance and the tele-rehabilitation facility for connected health are analyzed. Finally, social and technical motivations for stroke patients towards utilizing robotic rehabilitation devices are analyzed.
AB - The design of a novel actuator VIC-SEATS (Variable Impedance Compliant Series Elastic Actuator with Two Springs) is introduced and the static and kinematic characteristics of the soft actuator for a targeted application of actuating the knee joint of a gait rehabilitation robot is presented. Targeted novelties of the actuator design are that it is designed with only one motor and two sets of springs in series that can adjust the stiffness for low, medium and high force situations without any change in the springs, it is light in weight, compact in size but enough strong due to proposed fabrication with advanced materials, and it has competitive advantages such as high force controllability, force bandwidths, back-drivability, efficiency, safety, power/mass and force/mass ratios and output torque, and low friction, inertia and impedance. The electro-mechanical design, prospective fabrication materials and working mechanisms of the novel actuator design are summarized. Based on simulation results, the design parameters are optimized to determine desired static and kinematic features such as torque trajectory, torque-displacement relationship, velocity profile and required power/energy for actuating the knee joint of a gait rehabilitation robot through comparing these characteristics with the human characteristics. Then, applications of hand-held gaming interface to display key rehabilitation performance and the tele-rehabilitation facility for connected health are analyzed. Finally, social and technical motivations for stroke patients towards utilizing robotic rehabilitation devices are analyzed.
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U2 - 10.1007/978-3-030-32523-7_15
DO - 10.1007/978-3-030-32523-7_15
M3 - Conference contribution
AN - SCOPUS:85075668800
SN - 9783030325220
T3 - Advances in Intelligent Systems and Computing
SP - 224
EP - 243
BT - Proceedings of the Future Technologies Conference, FTC 2019 - Volume 2
A2 - Arai, Kohei
A2 - Bhatia, Rahul
A2 - Kapoor, Supriya
PB - Springer
T2 - 4th Future Technologies Conference, FTC 2019
Y2 - 24 October 2019 through 25 October 2019
ER -
