{"title":"A wearable robot for lower limb fracture reduction and rehabilitation: Design and experimental verification","authors":"Zhiyuan He , Panfeng Wang , Yimin Song , Tao Sun","doi":"10.1016/j.mechmachtheory.2024.105806","DOIUrl":null,"url":null,"abstract":"<div><div>Most current orthopedic robots focused on fracture reduction surgery with limited involvement in postoperative rehabilitation training. However, post-surgical orthopedic rehabilitation training directly impacts the recovery of mobility, ambulation, and limb function in patients. Here, we propose a six degree-of-freedom (DoF) parallel robot that can perform fracture reduction surgery as well as postoperative rehabilitation training for lower limb. The actuation system is switchable to reduce the weight in fixed status and reuse the actuation units for lowering treatment costs. An optimal parameter design based on multi-objective optimization is presented for maintaining lightweight and high stiffness. The wearable robot has a 1.7 kg weight in electric mode and 1.3 kg in manual mode, with >80 kg payload. A hierarchical control strategy with three control modes is developed to meet the requirements of different stages of fracture treatment. Our preliminary experiments on bone models demonstrated the potential effectiveness of the proposed wearable robot for lower limb fracture reduction and rehabilitation training.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"203 ","pages":"Article 105806"},"PeriodicalIF":4.5000,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24002337","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
Most current orthopedic robots focused on fracture reduction surgery with limited involvement in postoperative rehabilitation training. However, post-surgical orthopedic rehabilitation training directly impacts the recovery of mobility, ambulation, and limb function in patients. Here, we propose a six degree-of-freedom (DoF) parallel robot that can perform fracture reduction surgery as well as postoperative rehabilitation training for lower limb. The actuation system is switchable to reduce the weight in fixed status and reuse the actuation units for lowering treatment costs. An optimal parameter design based on multi-objective optimization is presented for maintaining lightweight and high stiffness. The wearable robot has a 1.7 kg weight in electric mode and 1.3 kg in manual mode, with >80 kg payload. A hierarchical control strategy with three control modes is developed to meet the requirements of different stages of fracture treatment. Our preliminary experiments on bone models demonstrated the potential effectiveness of the proposed wearable robot for lower limb fracture reduction and rehabilitation training.
期刊介绍：
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry
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