Design and Analysis of a Lower Limb Rehabilitation Robot

摘要

The paper present a new lower-limb rehabilitation robot which consists of two mechanical legs with 3 DOF. The length of two mechanical legs and the angle of seat back of the rehabilitation robot can be adjusted over a certain range to fit various patients. The robot can exercise a single joint or multiple joints. It has three training modes: active training, passive training and assist training. In order to evaluate the rehabilitation effect of the robot, all joints were equipped with torque sensors and absolute position encoders. which is very important for the design of the rehabilitation robot. Besides, the rehablitaion traning can combined with sEMG/FES. The robot are installed beside a chair, the patient can sit or lie in the chair, which is more comfortable than standing or suspending. The analysis and experimental results demonstrate that the proposed rehabilitation robot is safe and reliable , the workspace can meets the needs of normal gait.