∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs

Mengkai Jing; Xiaojun Yang; Bing Li

doi:10.1109/ICInfA.2018.8812562

^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs

Mengkai Jing
, Xiaojun Yang
, Bing Li

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper presents a design procedure for a planar six-bar mechanism used in rehabilitation of lower limb that can assist the human body to perform normal gait movement and balance the load of the lower limb. Five representative points are selected from the natural gait trajectory of the human body, and the trajectory synthesis function generator based on the Stephenson III six-bar is obtained. In this paper, the homotopy algorithm is used to solve the solution of the polynomial equations generated by the function generator, then the link length for the six-bar mechanism for the human lower limb rehabilitation is obtained. This article adopts the subsystem method to establish the multi-bar gravity balance system model that calculates the total potential energy of the entire system, and then divides it into n subsystems. The structure establishes the pseudo bases in each subsystem and combines the zero-initial-length springs to conserve the potential energy of the various subsystems to achieve a multi-bar gravity balance. The ankle trajectory and potential energy conservation simulated by MATLAB are obtained.

Original language	English
Title of host publication	2018 IEEE International Conference on Information and Automation, ICIA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1491-1496
Number of pages	6
ISBN (Electronic)	9781538680698
DOIs	https://doi.org/10.1109/ICInfA.2018.8812562
State	Published - Aug 2018
Externally published	Yes
Event	2018 IEEE International Conference on Information and Automation, ICIA 2018 - Wuyishan, Fujian, China Duration: 11 Aug 2018 → 13 Aug 2018

Publication series

Name	2018 IEEE International Conference on Information and Automation, ICIA 2018

Conference

Conference	2018 IEEE International Conference on Information and Automation, ICIA 2018
Country/Territory	China
City	Wuyishan, Fujian
Period	11/08/18 → 13/08/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Gravity balance
Lower limb rehabilitation
Six-bar mechanism

Access to Document

10.1109/ICInfA.2018.8812562

Cite this

Jing, M., Yang, X., & Li, B. (2018). ^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs. In 2018 IEEE International Conference on Information and Automation, ICIA 2018 (pp. 1491-1496). Article 8812562 (2018 IEEE International Conference on Information and Automation, ICIA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2018.8812562

Jing, Mengkai ; Yang, Xiaojun ; Li, Bing. / ^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs. 2018 IEEE International Conference on Information and Automation, ICIA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1491-1496 (2018 IEEE International Conference on Information and Automation, ICIA 2018).

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title = "∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs",

abstract = "This paper presents a design procedure for a planar six-bar mechanism used in rehabilitation of lower limb that can assist the human body to perform normal gait movement and balance the load of the lower limb. Five representative points are selected from the natural gait trajectory of the human body, and the trajectory synthesis function generator based on the Stephenson III six-bar is obtained. In this paper, the homotopy algorithm is used to solve the solution of the polynomial equations generated by the function generator, then the link length for the six-bar mechanism for the human lower limb rehabilitation is obtained. This article adopts the subsystem method to establish the multi-bar gravity balance system model that calculates the total potential energy of the entire system, and then divides it into n subsystems. The structure establishes the pseudo bases in each subsystem and combines the zero-initial-length springs to conserve the potential energy of the various subsystems to achieve a multi-bar gravity balance. The ankle trajectory and potential energy conservation simulated by MATLAB are obtained.",

keywords = "Gravity balance, Lower limb rehabilitation, Six-bar mechanism",

author = "Mengkai Jing and Xiaojun Yang and Bing Li",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Information and Automation, ICIA 2018 ; Conference date: 11-08-2018 Through 13-08-2018",

year = "2018",

month = aug,

doi = "10.1109/ICInfA.2018.8812562",

language = "英语",

series = "2018 IEEE International Conference on Information and Automation, ICIA 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "美国",

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Jing, M, Yang, X & Li, B 2018, ^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs. in 2018 IEEE International Conference on Information and Automation, ICIA 2018., 8812562, 2018 IEEE International Conference on Information and Automation, ICIA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1491-1496, 2018 IEEE International Conference on Information and Automation, ICIA 2018, Wuyishan, Fujian, China, 11/08/18. https://doi.org/10.1109/ICInfA.2018.8812562

^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs. / Jing, Mengkai; Yang, Xiaojun; Li, Bing.
2018 IEEE International Conference on Information and Automation, ICIA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1491-1496 8812562 (2018 IEEE International Conference on Information and Automation, ICIA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents a design procedure for a planar six-bar mechanism used in rehabilitation of lower limb that can assist the human body to perform normal gait movement and balance the load of the lower limb. Five representative points are selected from the natural gait trajectory of the human body, and the trajectory synthesis function generator based on the Stephenson III six-bar is obtained. In this paper, the homotopy algorithm is used to solve the solution of the polynomial equations generated by the function generator, then the link length for the six-bar mechanism for the human lower limb rehabilitation is obtained. This article adopts the subsystem method to establish the multi-bar gravity balance system model that calculates the total potential energy of the entire system, and then divides it into n subsystems. The structure establishes the pseudo bases in each subsystem and combines the zero-initial-length springs to conserve the potential energy of the various subsystems to achieve a multi-bar gravity balance. The ankle trajectory and potential energy conservation simulated by MATLAB are obtained.

AB - This paper presents a design procedure for a planar six-bar mechanism used in rehabilitation of lower limb that can assist the human body to perform normal gait movement and balance the load of the lower limb. Five representative points are selected from the natural gait trajectory of the human body, and the trajectory synthesis function generator based on the Stephenson III six-bar is obtained. In this paper, the homotopy algorithm is used to solve the solution of the polynomial equations generated by the function generator, then the link length for the six-bar mechanism for the human lower limb rehabilitation is obtained. This article adopts the subsystem method to establish the multi-bar gravity balance system model that calculates the total potential energy of the entire system, and then divides it into n subsystems. The structure establishes the pseudo bases in each subsystem and combines the zero-initial-length springs to conserve the potential energy of the various subsystems to achieve a multi-bar gravity balance. The ankle trajectory and potential energy conservation simulated by MATLAB are obtained.

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Jing M, Yang X, Li B. ^∗ Trajectory synthesis and gravity balance of planar sixbar mechanism used in rehabilitation of lower limbs. In 2018 IEEE International Conference on Information and Automation, ICIA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1491-1496. 8812562. (2018 IEEE International Conference on Information and Automation, ICIA 2018). doi: 10.1109/ICInfA.2018.8812562