Lower Limb Rehabilitation Robot in Sitting Position for Various Therapeutic Exercises

摘要

In this paper, a lower limb rehabilitation robot in sitting position is developed for patients with muscle weakness. The robot is a stationary based type which is able to perform various types of therapeutic exercises. For safe operation, the robot's joint is driven by two-stage cable transmission while the balance mechanism is used to reduce actuator size and transmission ratio. Control algorithms for passive, assistive and resistive exercises are designed to match characteristics of each therapeutic exercises and patients with different muscle strength. Preliminary experiments conducted with a healthy subject have demonstrated that the robot and the control algorithms are promising for lower limb rehabilitation task.