Development of a Belt-actuated Robotic Platform for Early Rehabilitation

Fang, Juan; Haldimann, Michael; Hunt, Kenneth James (29 July 2022). Development of a Belt-actuated Robotic Platform for Early Rehabilitation In: 2022 International Conference on Rehabilitation Robotics (ICORR). Rotterdam, the Netherlands. 25-29 July, 2022. 10.1109/ICORR55369.2022.9896508

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In order to promote early rehabilitation, we proposed a system which provides full-body arm-leg training for patients in a bed-lying position. As the preliminary development, a platform for leg movement was investigated. An innovative system with four servo drives was designed and manufactured. An artificial leg frame was attached to the platform via belts. The positions of the hip and knee joints were recorded using potentiometers. Closed-loop PID position control algorithms were implemented for production of various stepping movements. Technical evaluation on a test participant showed that the platform tracked the circular trajectory of the foot in a supine-lying position with an area difference of 8.2%, and produced walking-like trajectories in the hip and knee joints in a side-lying position with a mean error of 10.6%. The mechanical structure can be resized, and the control system can be expanded, so as to produce 3-dimensional stepping movement in both arms and legs. This innovative platform combined with the closed-loop position control strategy shows the technical potential to be a promising full-body rehabilitation platform for the patients in the early post-injury stage.

Item Type:	Conference or Workshop Item (Paper)
Division/Institute:	School of Engineering and Computer Science > Institute for Human Centered Engineering (HUCE) School of Engineering and Computer Science > Institute for Human Centered Engineering (HUCE) > Digital Health Lab School of Engineering and Computer Science BFH Centres and strategic thematic fields > BFH centre for Health technologies
Name:	Fang, Juan; Haldimann, Michael and Hunt, Kenneth James
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Language:	English
Submitter:	Juan Fang
Date Deposited:	20 Dec 2022 11:22
Last Modified:	20 Dec 2022 11:22
Publisher DOI:	10.1109/ICORR55369.2022.9896508
PubMed ID:	36176173
ARBOR DOI:	10.24451/arbor.18432
URI:	https://arbor.bfh.ch/id/eprint/18432