Behavioural Neurology / 2017 / Article / Tab 2

Review Article

Robotics in Lower-Limb Rehabilitation after Stroke

Table 2

Overview of driving modes for rehabilitation robot.

Drive typesDefinitionAdvantagesDisadvantagesRepresentative works

drive [6365]
Taking the liquid as the actuating
medium for energy transmission
and control
(1) High reliability
(2) Simple structure
(3) Working stability
(4) Low inertia
(5) The overload protection is easily realized
(6) It can realize stepless speed regulation.
(1) It is sensitive to oil temperature
and loading change
(2) The hydraulic oil can be compressed
(3) The working fluid is easy to leak;
high noise; low energy efficiency;
low drive speed.
BLEEX series, University
of California Berkeley, US

Motor drive [6668]Using electric equipments and
adjusting the circuit parameters
for power transmission and control
(1) The cable for connection has
advantages of energy transfer
    convenient, signal transform quickly
(2) High level standard
(3) Easily to achieve automatic control
(4) Simple structure
(5) Nonpolluting.
(1) It has poor balance of movement
(2) It is easily influenced by external load
(3) Large inertia
(4) Slow change
(5) Large volume
(6) Heavy.
HAL series, Tsukuba University
of Cyberdyne, Japan

drive [6971]
Taking the compressed air as the
actuating medium for energy
transmission and control
(1) Simple structure
(2) Low cost
(3) Small gas viscosity
(4) It can realize stepless speed regulation
(5) Nonpolluting
(6) Little resistance losing
(7) Fire and explosion prevention,
high flow rate
(8) Working in high temperature.
(1) The gas is easy to be compressed
and leak
(2) The speed is easy to change under
the load
(3) It is difficult to precise control,
cannot be used under low temperature
(4) The gas is difficult to sealed
(5) Working pressure is usually smaller
than 0.8 Mpa, which only applies to
small power driving.
Unsuitable for high-power system.
Ankle-foot orthosis of Michigan
University, USA

SEA (series elastic
actuator) drive
 (1) High control precision
(2) High security
(3) Weaken inertia impaction
(4) Reducing the friction losses
(5) Storing energy.
(1) Rigidity is restricted by elastic components
(2) Large volume
(3) Heavy
(4) Complicated structure
(5) High power.
The Exoskeleton of the Delaware
State University [72]

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