Mechanical Structure and Control Methods for Lower-Limb Rehabilitation Robots

摘要

As a rehabilitation aid, lower-limb rehabilitation robots help patients recover their walking ability. This paper presets a review of such a rehabilitation robot. First, we classify commercially available common types of lower-limb rehabilitation robots. Next, we briefly describe the structure and characteristics of those robots, Then, we present the control methods used in those robots. Finally, we explain future research directions.