Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation

N. Akmal Alias, M. Saiful Huq, B. S.K.K. Ibrahim, Rosli Omar

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Abstract

Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel's direction.

Original languageEnglish
Title of host publicationAdvances in Electrical and Electronic Engineering
Subtitle of host publicationFrom Theory to Applications - Proceedings of the International Conference on Electrical and Electronic Engineering, IC3E 2017
EditorsLukman Audah, Mohd Helmy Abd Wahab, Nor Akmal Mohd Jamail, Mohd Norzali Hj Mohd, Dirman Hanafi, Chin Fhong Soon
PublisherAmerican Institute of Physics Inc.
Number of pages11
ISBN (Electronic)9780735415638
DOIs
Publication statusPublished - 14 Sep 2017
Externally publishedYes
Event1st International Conference on Electrical and Electronic Engineering: Advancing Engineering Towards Sustainable Future, IC3E 2017 - Johor Bahru, Malaysia
Duration: 14 Aug 201715 Aug 2017

Publication series

NameAIP Conference Proceedings
Volume1883
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference1st International Conference on Electrical and Electronic Engineering: Advancing Engineering Towards Sustainable Future, IC3E 2017
CountryMalaysia
CityJohor Bahru
Period14/08/1715/08/17

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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  • Cite this

    Alias, N. A., Huq, M. S., Ibrahim, B. S. K. K., & Omar, R. (2017). Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation. In L. Audah, M. H. A. Wahab, N. A. M. Jamail, M. N. H. Mohd, D. Hanafi, & C. F. Soon (Eds.), Advances in Electrical and Electronic Engineering: From Theory to Applications - Proceedings of the International Conference on Electrical and Electronic Engineering, IC3E 2017 [020040] (AIP Conference Proceedings; Vol. 1883). American Institute of Physics Inc.. https://doi.org/10.1063/1.5002058