Power-free knee rehabilitation robot for home-based isokinetic training

摘要

Robot-assisted isokinetic training has been widely adopted for knee rehabilitation. However, existing rehabilitation facilities are often heavy, bulky, and extremely energy-consuming, which limits the rehabilitation opportunities only at designated hospitals. In this study, we introduce a highly integrated and lightweight (52 kg) knee rehabilitation robot that can provide home-based isokinetic training without external power. By integrating a motor, torque/angle sensors, control circuit, and energy regeneration circuit into a single driver module, our robot can provide power-free isokinetic training by recycling mechanical work from the trainee. Ten postsurgical subjects were involved in an interventional randomized trial (ChiCTR2300076715, Part I) and the cross-sectional area of trained legs (experimental group) was significantly higher than that of untrained legs (control group). The primary outcomes, muscle growth (quadriceps: 5.93%, hamstrings: 10.27%) and strength improvements (quadriceps: 70%, hamstrings: 84%), achieved with our robots surpass those of existing commercial rehabilitation devices. These findings indicate that our robot presents a viable option for home-based knee rehabilitation, significantly enhancing the accessibility of effective treatment.