Implementation of Omnidirectional Lower Limbs Rehabilitation Training Robot

摘要

The design and implementation of an omnidirectional lower limbs rehabilitative training robot are described. The robot is designed to improve patient's locomotion, who suffers from impairment in walking ability after neurology injuries. The robot is characterized with three key points as following: 1) a wheeled mechanical structure, 2) gait phase analysis system using wearable press sensors and 3) a real-time communication mechanism. With the specific mechanical structure, the robot can mobile within any radius in any direction. The robot detects a human subject's gait phases and compares the data with the results from database, which is built by experiments on many persons. When the patient can't keep up with robot, the robot automatically slows down to insure human body's safety.