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Modeling and Analysis of Power Transmission System of a Gait Training Robot

Mousazadegan, Mohammad | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42516 (08)
  4. University: Sharif University of Technology
  5. Department: Mechaical Engineering
  6. Advisor(s): Farahmand, Farzam; Saadat Foomani, Mahmood
  7. Abstract:
  8. A high percentage of patients with lower extremities disability are consist of paraplegic patients, hemiparetic patients, spinal cord injuries and chronic stroke patients. Currently, a variety of methods are developed and being used for gait rehabilitation of these patients. Recently, beside physiotherapy and different types of exercises, gait trainers are used to help patients to obtain their walking abilities. The main goal of this work is to modeling, analysis and comparison of two different types of power transmission system for a gait training robot. A familiar gearbox and a cable mechanism for power transmission are studied and mechanical impedance and accuracy of systems in transmission of forces is compared with each other. Results show that using cable transmission system instead of gearbox reduces the mechanical impedance of robot but has a significant effect on improving the transmission of driving and resistant forces between robot and patient. In the natural rate of gait training, using the cable transmission reduces the mechanical impedance of gait trainer 10.2-11.7 times in comparison to gearbox transmission system. Also results show that gear box system has max. 43% error in transmission of forces from patient to robot and max. 30% error in transmission of forces from robot to patient. Although using the cable mechanism for power transmission in a gait trainer reduces the mechanical impedance and accuracy of robot in position controlling. But it has significant effect on improving the transmission of driving and resistant forces between robot and patient
  9. Keywords:
  10. Rehabilitation ; Dynamic Stiffness ; Gait Trainer Device ; Cable Robot

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