ChMER: an exoskeleton robot with active body weight support walker based on compliant actuation for children with cerebral palsy

Frontiers in Bioengineering and Biotechnology, Journal Year: 2025, Volume and Issue: 13

Published: Feb. 27, 2025

Lower limb exoskeleton robots for young children with cerebral palsy (CP) are crucial to support earlier rehabilitation that is more beneficial than later. For safety reasons, pediatric exoskeletons usually equipped body weight (BWS) devices help patients maintain balance. However, existing tend use stiff joint actuation and passive BWS limited compliance. This paper proposes a novel mobile robot (3- ∼ 6-years-old) CP based on intrinsically compliant actuation. A compact kinematic chain integrates an exoskeleton, active system, walker proposed. Furthermore, the design optimization of chain, can walk alone stably in provide high compliance rehabilitation. The adopts similar quasi-direct drive paradigm acquire mechanical uses secondary planetary reducer ensure output torque. Assistive torque control achieved through proprioceptive sensing instead sensors. system series elastic actuator accurately generate force significantly reduce fluctuation compared BWS. Finally, frameworks implemented validate performance. experimental results demonstrate our safe

Language: Английский

Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

Machines, Journal Year: 2024, Volume and Issue: 12(11), P. 811 - 811

Published: Nov. 14, 2024

Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These combine the benefits both mechanisms, such as increased stiffness, high positioning accuracy, a large workspace. This study discusses existing architectures applications parallel–serial robots methods their design analysis. The paper reviews around 500 articles presents over 150 used in machining, medicine, pick-and-place tasks, humanoids legged systems, haptic devices, simulators, other applications, covering lower mobility kinematically redundant robots. After that, considers how researchers have developed analyzed these manipulators. In particular, it examines type synthesis, mobility, kinematic, dynamic analysis, workspace singularity determination, performance evaluation, optimal design, control, calibration. review concludes discussion current trends field potential directions for future studies.

Language: Английский