Kinematics Modeling and Mechanism Configuration Selection of a Mechatronic Assistive Device for Paraplegic Patients

摘要

Paraplegia is common sequel of Spinal Cord Injury (SCI). This refers to the paralysis of lower-limbs of the patient caused by SCI. This impairment affects either sensory or motor function of the lower extremities. Rehabilitation programs contribute an improvement in the spasticity and muscle weakness pain. The patient also needs assistance in mobility to perform daily tasks. A Mechatronic assistive device is proposed in this paper for mobility of such patients. The kinematics model for two possible configurations of the device based on sit-to-stand mechanism that yields movement of the lower limb of the patients suffering from paraplegia is presented. The workspace of both configurations is presented to select a configuration of the device between two possible configurations for future studies. A simulation of the system variables using the inverse kinematics and the simulation for workspace is performed using robotics toolbox (Peter Corke) of MATLAB®. The results suggest the RPR configuration of the proposed mechanism may be used as it has wider workspace.