Design and Simulation of a New Lower Limb Rehabilitation Mechanism

摘要

Up to now,there are only several kinds of therapy robots used in the clinic application.And there are still fewer that are successful in their popularization.They are helpful for the rehabilitation of the patients' limbs,but also have several drawbacks in the mechanism design,modularized design and so on.Based on the existing leg reha- bilitation instruments and the anatomy of human's leg,a new kind of leg rehabilitation robot is designed based on parallel robot theory.Referring to the limb's basic size,we structured it with 3D software and made the kinematical analysis of each part.To ensure the feasibility of its structural design and its control,we analyzed the robot's work- space and processed the kinematical simulation.This device has very simple structure and relatively large workspace, and its design parameters can be adjusted for different people.It has a positive function to the research of limb reha- bilitation.