Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot.
Sensors (Basel)
; 20(24)2020 Dec 08.
Article
in En
| MEDLINE
| ID: mdl-33302462
ABSTRACT
Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to study the safety evaluation methods and evaluation index of cable-driven rehabilitation robots. A bionic muscle cable (BM cable) is proposed to construct a bionic muscle cable-driven lower limb rehabilitation robot (BM-CDLR). The working principle of the BM-CDLR is introduced. The safety performance factors are defined based on the mechanical analysis of the BM-CDLR. The structural safety evaluation index and the use safety evaluation index of the BM-CDLR are given by comprehensively considering the safety performance factors and a proposed speed influence function. The effect of the structural parameters of the elastic elements in the BM cable on the safety performance factors and safety of the BM-CDLR is analyzed and verified by numerical simulations and experimental studies. The results provide the basis for further study of the compliance control strategy and experiments of the human-machine interaction of the BM-CDLR.
Key words
Full text:
1
Collection:
01-internacional
Database:
MEDLINE
Main subject:
Bionics
/
Robotics
/
Lower Extremity
Limits:
Humans
Language:
En
Journal:
Sensors (Basel)
Year:
2020
Document type:
Article
Affiliation country:
China