MATHEMATICAL MODELING AND SIMULATION OF A 3 DOFS LOWER LIMB REHABILITATION ROBOT FOR POST-STROKE PATIENT

Le Thi Hong Gam; Dam Hai Quan; Bui Trung Thanh; Pham Van Bach Ngoc

Le Thi Hong Gam Thai Nguyen University of Education
Dam Hai Quan Thai Nguyen College of Economics and Finance
Bui Trung Thanh Hung Yen University of Technology and Education
Pham Van Bach Ngoc VietNam Academy of Science and Technology

Abstract

Stroke is a sickness that has a high potential of causing disability in the aged. Post-stroke patients can improve their motional functions by the rehabilitation program. With the development of science and technology, rehabilitation exercises can be performed by robots. This paper presents the process of modeling the mathematical model of a 3 degree of freedom (DOF) lower limb rehabilitation, including: kinematic and dynamic model, friction model and motor model. The simulation in MATLAB/Simulink is also carried out to show accuracy and suitability with the physical characteristics of the system model. This result is used to propose control strategies for robot in next studies.

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