Modeling and simulation of omni-directional lower limbs rehabilitation training robot

Abstract

An omni-directional lower limbs rehabilitation training robot is designed to improve patient's locomotion, who suffers from impairment in walking ability after neurology injuries. By analyzing the kinematic and dynamic characteristics of the robot, its motion control model is provided. A multi-body dynamic model of a full robot is established by using ADAMS software. In addition, the co-simulations under Matlab and ADAMS are carried out by defining I/O interface. The results show that the established model of robot is correct.