A gravity balancing leg orthosis for robotic rehabilitation
作者： S.K. Banala , S.K. Agrawal , A. Fattah , K. Rudolph , J.P. Scholz
DOI: 10.1109/ROBOT.2004.1307432
关键词:
摘要: A number of methods can be found in the literature to gravity balance a machine. In this paper we use hybrid method achieve balancing. Hybrid employs mechanism locate center mass robot conjunction with springs. This is used develop rehabilitation device, which compensates effect on human leg. For quantitative evaluation performance electromyograph data muscles involved motion leg were collected and analyzed. showed that machine could for balancing potentially patients.
researchgate.net 
sci-hub.se 参考文章(13)
Just L. Herder, Gabriëlle J. M. Tuijthof, Two Spatial Gravity Equilibrators Volume 7A: 26th Biennial Mechanisms and Robotics Conference. ,(2000) , 10.1115/DETC2000/MECH-14120
N. Ulrich, V. Kumar, Passive mechanical gravity compensation for robot manipulators international conference on robotics and automation. pp. 1536- 1541 ,(1991) , 10.1109/ROBOT.1991.131834
D. A. Streit, E. Shin, Equilibrators for Planar Linkages Journal of Mechanical Design. ,vol. 115, pp. 604- 611 ,(1993) , 10.1115/1.2919233
Vigen Arakelian, Sébastien Briot, Vigen Arakelian, Sébastien Briot, Complete Shaking Force and Shaking Moment Balancing of Linkages Balancing of Linkages and Robot Manipulators. ,vol. 34, pp. 77- 116 ,(2015) , 10.1007/978-3-319-12490-2_4
T. Wongratanaphisan, M. Chew, Gravity compensation of spatial two‐DOF serial manipulators Journal of Robotic Systems. ,vol. 19, pp. 329- 347 ,(2002) , 10.1002/ROB.10044
G.J Walsh, D.A Streit, B.J Gilmore, Spatial spring equilibrator theory Mechanism and Machine Theory. ,vol. 26, pp. 155- 170 ,(1991) , 10.1016/0094-114X(91)90080-N
Jiegao Wang, Clément M. Gosselin, Static balancing of spatial three-degree-of-freedom parallel mechanisms Mechanism and Machine Theory. ,vol. 34, pp. 437- 452 ,(1999) , 10.1016/S0094-114X(98)00031-7
Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie, Design and fabrication of an active gravity balanced planar mechanism using auxiliary parallelograms Journal of Mechanical Design. ,vol. 123, pp. 525- 528 ,(2001) , 10.1115/1.1413771
Olfat Mohamed, Jacquelin Perry, Helen Hislop, Relationship between wire EMG activity, muscle length, and torque of the hamstrings. Clinical Biomechanics. ,vol. 17, pp. 569- 579 ,(2002) , 10.1016/S0268-0033(02)00070-0
Luis F. Cardoso, Sérgio Tomázio, Just L. Herder, Conceptual Design of a Passive Arm Orthosis ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. pp. 747- 756 ,(2002) , 10.1115/DETC2002/MECH-34285