Design Optimization of the Lift Mechanism in the Robotic Walking Training Device Using the Engineering Design Methodology

Abstract

Partial paralysis caused by spinal cord injury (SCI) or stroke are two of the most prevalent forms of physical disability. Through proper gait training, people with incomplete SCI have more potential to retain or regain the ability to walk than those with complete SCI. To help patients who have these disabilities regain the function of walking unassisted, the robotic walking training device (RWTD) has been developed to perform gait rehabilitation. This research plays a pivotal role in advancing medical robotic technology and gait rehabilitation by conducting a comprehensive evaluation and comparison of three lift mechanisms. Specifically, the lift mechanisms are designed to reposition a patient, using the RWTD, from a supine to a vertical position. Addressing a crucial gap in supporting and placing patients in gait rehabilitation devices, design optimization was performed using the engineering design process. This approach utilizes sophisticated techniques, including CAD modeling, motion analysis, structural analysis using finite element analysis, and a Pugh decision matrix. The findings offer valuable insights for optimizing lift mechanisms for the RWTD, contributing to the enhancement of patient-centric care. This research ensures a focus on safety, efficiency, and comfort in the gait rehabilitation process, with broader implications for the evolution of medical robotic devices.

Keywords

• stroke
• spinal cord injury (SCI)
• rehabilitation
• engineering design methodology
• center of gravity (CoG)
• robotic walking training device (RWTD)