The number of people with lower limb disabilities
caused by stroke, traffic accidents and work-related injuries is increasing
sharply every year in mainland China, and the
corresponding number of rehabilitation therapists is obviously insufficient. To
solve this problem, domestic large hospitals have introduced advanced lower
limb rehabilitation robots from abroad. However, such robots are expensive and
the number of them cannot meet the needs of patients. As a result, many
universities and colleges in mainland China have launched research on this
issue. This paper collects and collates the research literature, gives the
mature and typical structure and control system design scheme in mainland
China, and lists some representative research results. Finally, the rehabilitation effect of these lower limb
rehabilitation robots is evaluated.
References
[1]
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[2]
Hu, Y., et al. (2007) Standardized Tertiary Rehabilitation on the Comprehensive Functions of Cerebral Strokes Patients with Hemiplegia. Chinese Journal of Rehabilitation Medicine, 22, 3-7.
[3]
Xie, C.Z., Xu, G.L. and Liu, X.F. (2009) Advance in Early Rehabilitation after Stroke. Chinese Journal of Rehabilitation Theory and Practice, 15, 908-912.
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Lunenburger, L., Colombo, G. and Riener, R. (2005) Clinical Assessments Performed during Robotic Rehabilitation by the Gait Training Robot Lokomat. IEEE Proceedings of the 9th International Conference on Rehabilitation Robotics, Chicago, 28 June-1 July 2005, 345-358. https://doi.org/10.1109/ICORR.2005.1501116
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[8]
Cheng, F., et al. (2008) Gait Programming Algorithm for the Gait Training Robot Used in PBWST. Chinese Journal of Rehabilitation Medicine, 23, 916-918.
[9]
Wang, A.M., Jia, X.H., Wang R.C., et al. (2008) Preliminary Research on Motion Planning of Partial Body Weight Support Treadmill Training Rehabilitation Robot. The 3rd Beijing International Forum on Rehabilitation, Beijing, 23-28 October 2008, 407-409.
[10]
Cheng, F., Wang, R.C., Jia, X.H., et al. (2008) Advance in Partial Body Weight Support Treadmill Training Rehabilitation Robot. Chinese Journal of Rehabilitation Medicine, 23, 366-368.
[11]
Sun, H., Zhang, L. and Wang, L. (2010) Dynamics Modeling and Control of Horizontal Lower Limbs Rehabilitation Robot. Chinese High Technology Letters, 20, 733-738.
[12]
Qian, Z.M., et al. (2010) Kinematics Analysis and Simulation of Horizontal Lower Limbs Rehabilitative Robot. Journal of System Simulation, 22, 2001-2005.
[13]
Sun, H., Zhang, L. and Li, C. (2009) Dynamic Analysis of Horizontal Lower Limbs Rehabilitation Robot. 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, Shanghai, 20-22 November 2009, 656-660.
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[14]
Zhang, L., Sun, H. and Li, C. (2010) Experiment Study of Impedance Control on Horizontal Lower Limbs Rehabilitation Robot. The 2010 IEEE International Conference on Information and Automation, Harbin, 20-23 June 2010, 1421-1425.
[15]
Shi, X., Ren, L., Liao, Z., Zhu, J. and Wang, H. (2017) Design & Analysis of the Mechanical System for a Spacial 4-DOF Series-Parallel Hybrid Lower Limb Rehabilitation Robot. Journal of Mechanical Engineering, 53, 48-54.
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[16]
Shi, X.H., Lu, H., Liao, Z.Y., et al. (2018) Active Training of Lower Limb Rehabilitation Robot Based on sEMG. Science Technology and Engineering, 18, 61-66.
[17]
Zhao, X.L., Lin, M.S., Li, Q., et al. (2016) Teaching and Training of the Lower Limb Rehabilitation Robot Based on Accelerometer. Chinese Journal of Sensors and Actuators, 29, 1596-1601.
[18]
Shi, X. (2014) Design and Dynamic Analysis of an Exoskeleton Lower Limbs Rehabilitation Robot. Journal of Mechanical Engineering, 50, 41-48.
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[19]
Wang, H., Shi, X. and Liu, H. (2011) Design, Kinematics, Simulation, and Experiment for a Lower-Limb Rehabilitation Robot. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225, 860-872. https://doi.org/10.1177/0959651811408978
[20]
Shi, X.H., et al. (2012) Design and Analysis of a Lower Limb Rehabilitation Robot. Advanced Materials Research, 490-495, 2236-2240.
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[21]
Wang, H., Liu, H., Shi, X. and Hou, Z. (2009) Design and Kinematics of a Lower Limb Rehabilitation Robot. 2nd International Conference on Biomedical Engineering and Informatics, Tianjin, 17-19 October 2009, 1174-1177.
[22]
Chen, K., Liu, Q.D., Wang, R.C., et al. (2011) Development of a Body Weight-Support Gait Training Robot. Chinese Journal of Rehabilitation Medicine, 26, 847-851.
[23]
Liu, Q.D., Chen, K., Wang, R.C., et al. (2010) Development of Body Weight-Support Gait Training Robot. The 7th National Symposium on Rehabilitation Medical Engineering and Rehabilitation Engineering, Beijing, 22-24 May 2010, 81-84.
[24]
Zhang, T.Y., Liu, Q.D., Wang, R.C., et al. (2010) The Standardization of Body Weight Support Intelligent Instrument for Gait Training. The 7th National Symposium on Rehabilitation Medical Engineering and Rehabilitation Engineering, Beijing, 22-24 May 2010, 299-302.
[25]
Wang, A.M., Wang, R.C., Chen, K., et al. (2008) Research Development of Exoskeleton Robot for Assistive Walking. The 3rd Beijing International Forum on Rehabilitation, Beijing, 23-28 October 2008, 567-569.
[26]
Rao, L.J., Xie, L. and Zhu, X.B. (2012) Research and Design on Lower Exoskeleton Rehabilitation Robot. Machine Design and Research, 28, 24-28.
[27]
Zhu, X.B., Xie, L., Xv, D., et al. (2013) Numerical Research of Walking Motion on a Lower Limb Exoskeleton. China Digital Medicine, 8, 27-29.
[28]
Zhu, X.B., Xie, L. and Shen X.L. (2012) Passive Control Scheme for a Lower Extremity Rehabilitation Exoskeleton. 1st International Conference of Rehabilitation Medical Engineering, Shanghai, 17-18 May 2012, 17-18.
[29]
Li, F., Wu, Z.Z. and Qian, J.W. (2014) Trajectory Adaptation Control for Lower Extremity Rehabilitation Robot. Chinese Journal of Scientific Instrument, 35, 2027-2036.
[30]
Xu, G.Z., Song, A.G. and Li, H.J. (2009) Fuzzy-Based Adaptive Impedance Control for Upper-Limb Rehabilitation Robot. Journal of Southeast University (Natural Science Edition), 39, 156-160.
[31]
Zhou, H., Sun, L., Li, J., Li, W., Cai, X. and Lu, L. (2015) Adaptive Gait Trajectory Based on Iterative Learning Control for Lower Extremity Rehabilitation Exoskeleton. 18th IEEE International Conference on Climbing and Walking Robots, Hangzhou, 6-9 September 2015, 43-50.
[32]
Zhou, H.T. (2015) Research on Mechanism Design and Control Strategy of the Lower Extremity Rehabilitation Exoskeleton. Ph.D. Dissertation, Harbin Institute of Technology, Harbin.
