Design and Optimization of Multifunctional Human Motion Rehabilitation Training Robot EEGO

Abstract

A multifunctional human motion rehabilitation training robot named EEGO (electric easy go) that could achieve four functions through structural transformation was designed. The four functions achieved by four working modes: the Supporting Posture Mode (SM), the Grasping Posture Mode (GM), the Riding Posture Mode (RM), and the Pet Mode (PM), which are suitable for patients in the middle and late stages of rehabilitation. The size of the equipment under different functions is determined by the height of different postures of the human. During the design process, the equipment was lightweight using size optimization methods, resulting in a 47.3% reduction in mass compared to the original design. Based on the Zero Moment Point (ZMP) stability principle, the stability mechanism of the robot was verified under the three different functions. According to the wanted function of the equipment, the control system of the equipment was designed. Finally, a prototype was prepared based on the analysis and design results for experimental verification, which can effectively assist patients in motion rehabilitation training such as gait, walking, and other movements.

Keywords

• rehabilitation robot
• size optimization
• ZMP
• control system