Design and Analysis of a Lower Limbs Horizontal Robot for Femoral Shaft Fracture Rehabilitation Using Linear Actuators
نویسندگان
چکیده
This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinematics solution of the robot is given. The working space and the trajectory planning is studied. Based on the Lagrangian method, the dynamic equation of the robot is deduced and the dynamics simulation is carried out using MATLAB. A PD controller is proposed for trajectories tracking.
منابع مشابه
Femoral shaft fracture osteosynthesis in a critically ill patient under Extracorporeal Membrane Oxygenation (ECMO)
INTRODUCTION Extracorporeal Membrane Oxygenation (ECMO) is an invasive procedure used in critically ill patients with catastrophic pulmonary failure or cardiogenic shock in which conventional management has failed. These patients are managed with permanent anticoagulation, with increased bleeding risk. Hemorrhage is the main reported complication. CASE A 25-year-old polytraumatized woman, bot...
متن کاملComparison of Outcome of Femoral Shaft Fracture Fixation with Intramedullary Nail in Elderly Patient and Patients Younger than 60 Years Old
Background: Although intramedullary nailing (IMN) is an established and accepted operative treatment for femoral shaft fracture in patients younger than 60, there is a lack of data on the results of this treatment on those over 60. The purpose of this study was to determine if the outcome of IMN for femoral shaft fracture in elderly patients is also acceptable. Particular challenges in this g...
متن کاملElastic Stable Intramedullary Nailing of Femoral Shaft Fracture-Experience in 48 Children
Background: Femoral shaft fractures are an incapacitating pediatric injury accounting for 1.6% of all pediatric bonyinjuries. Management of these fractures is largely directed by age, fracture pattern, associated injuries, built of the childand socioeconomic status of the family. We retrospectively evaluated the use of elastic stable intramedullary nail (ESIN)in surgical management of femoral s...
متن کاملThe effect of lower limb rehabilitation gymnastics on postoperative rehabilitation in elderly patients with femoral shaft fracture
The purpose of this study was to explore the effect of lower limb rehabilitation gymnastics on postoperative rehabilitation in elderly patients with femoral shaft fracture after undergoing intramedullary nail fixation surgery.We collected medical records of elderly patients aged ≥ 60 years with femoral shaft fracture between 03/2010 and 03/2015 in Longyao County Hospital. Totally, 160 patients ...
متن کاملRespiratory Complications after Early versus Late Stabilization of Femoral Shaft Fracture
Background: Respiratory problems are common after long bone fractures. The objective of the present investigation is to evaluate the effect of early fixation of femoral shaft fracture on the incidence of respiratory problems. Methods: The results of early and late stabilization of femoral shaft fractures were studied in 150 patients. The patients were divided into two groups according to the st...
متن کامل