Development and Evaluation of a Hybrid Walking Rehabilitation Robot, DDgo Pro
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Development and Evaluation of a Hybrid Walking Rehabilitation Robot, DDgo Pro Jung‑Yup Kim1 · Ji‑Yong Kim1 · Hyeong‑Sic Kim2 · Kiwon Park3 Received: 31 March 2020 / Revised: 24 June 2020 / Accepted: 5 August 2020 / Published online: 30 September 2020 © Korean Society for Precision Engineering 2020
Abstract This paper describes the development and evaluation of a newly developed end-effector type rehabilitation robot named DDgo Pro. In order to induce normal walking pattern, a five-link mechanism was designed to follow normal walking trajectory. In order to implement the rehabilitation training feature, the core technologies of the drive unit consisting of freewheel and BLDC motor, the construction of the robot control system, and the algorithms of the three training modes in DDgo Pro were addressed in detail. Among the three training modes, Passive Mode makes the robot to fully guide normal walking pattern, and to help patients gain muscle strength in their lower body. In Active Assisted Mode, patients who have learned Passive Mode are able to perform active rehabilitation training for a long time while receiving muscle assistance from the robot in proportion to their walking intentions. Active mode was designed for patients to perform rehabilitation training for themselves with minimal help from the robot. In order to test muscle assisted performance of the newly developed rehabilitation robot, muscle activity in each training mode was measured using Electromyography for healthy people. In addition, gait dynamics was analyzed to check whether DDgo Pro help stroke patients correct their walking patterns. Keywords Walking rehabilitation robot · Power assistance · Gait analysis
1 Introduction Aging issues affect various areas of society around the world. In particular, the elderly has a high demand for medical and rehabilitation services due to physical impairment, which will be socially burdened and preventive measures are urgently needed [1]. As the elderly get older, gait performance greatly diminishes due to various causes [2]. This gait impairment can be seen in patients with stroke and Parkinson’s disease [3, 4]. For these patients with gait impairment, gait rehabilitation is a very important treatment that takes a long time [5, 6]. However, despite the increasing demand and the necessity of such walking rehabilitation training, no effective gait rehabilitation strategy has been proposed yet. * Kiwon Park [email protected] 1
Department of Mechanical System Design Engineering, Seoul National University of Science and Technology, Seoul 01811, South Korea
2
HUCASYSTEM, Inc., Daegu 41061, South Korea
3
Department of Mechatronics Engineering, Incheon National University, Incheon 22012, South Korea
In recent years, there are increasing research cases of gait rehabilitation robots that try to solve these social problems with the development of robot technology [7]. Gait rehabilitation robots can be divided into end-effector and treadmill/exoskel
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