Kinematic analysis of powered lower limb Orthoses for gait rehabilitation of hemiplegic and hemiparetic patients

摘要

In this paper, the kinematic analysis of constructed assistive robotic leg for rehabilitation of patients who encounter the neurological injury is presented. In order to design an efficient new mechanism, studies were carried out to distinguish the human architecture and dynamics. In the study, the motion of a healthy physical subject in walking situation of 1 km/h speed was recorded. Thereafter, a novel robotic leg mechanism was developed to produce similar motion. The robotic leg is driven by a single actuator to drive both the hip and the knee joints mechanism. In order to verify the robot motion with respect to human motion, kinematic analysis of all robot's joints and links are formulated and are simulated in MATLAB software. The results obtained from the kinematic analysis of the developed assistive robotic system show that its motion conforms to the motion and dynamics of a healthy human.