Research and Design of a Lower Limb Rehabilitation Exoskeleton Robot Driven by Cables

Abstract

With the development of science and technology and economic society, research on postoperative rehabilitation of lower limb fractures continues to deepen, and postoperative rehabilitation products are emerging one after another. However, traditional postoperative rehabilitation products for lower limb fractures have problems such as single function, low control precision, and bulky structure. At the same time, research on exoskeleton robots in the field of postoperative rehabilitation for fractures is not in-depth. Based on existing exoskeleton robots and driving methods, this paper designs a lower limb fracture postoperative rehabilitation exoskeleton robot that can provide axial mechanical stimulation and assistive torque. The design adopts the driving method of cable driving, and through the unique design of the coupled movable pulley group, it realizes the combination of two working modes, making the exoskeleton capable of providing axial mechanical stimulation and knee joint assistive torque. Finally, the axial load characteristics and torque characteristics of the exoskeleton device were verified by 3D printing prototype, meeting the requirements of perfect working mode and precise control system.