Development of a New Lower Limb Rehabilitation Robot for Bedside Training

Abstract

With the development of aging society, a great number of stroke patients are rapidly increasing. To meet the rehabilitation training needs of stroke patients, this paper proposed a simple, reliable and universally applicable lower limb rehabilitation training robot based on human lower limb movement characteristics. The robot is mainly composed of trolley, electric lifting column, screw adjustment component and left and right training mechanism. The kinematic model was developed by the D-H parameters method. Based on the rehabilitation mechanism, two modes of active training and passive training were designed. The robot can replace the work of therapists, significantly reduce the workload of therapists, and effectively alleviate the social situation of therapist shortage.