Gait Analysis and Simulation of a 3-DOF Rehabilitative Robot

Abstract

In this paper, motion analysis and simulation study of the gait mechan ism of a novel 3-DOF lower limb rehabilitative robot are presented. Optimum tra jectory is obtained by solving the motion equation of the gait mechanism. Simulation shows that the trajectory of the footplate depends on the geometry sizes of the mechanism. The novel mechanism is feasible to simulate human's gai t trajectory and the attitude of ankle. The analysis results also provide the es sential data for the further study on structural optimization and the control o f this mechanism.