Research on the walking gait coordinations of the lower limb rehabilitation robot

Abstract

Considering the difficulty in regeneration the stroke patient's neurons by modern medicine, the rehabilitation robots are widely studied to help the patient reduce influence caused by the stroke illness. In this paper, the lower limb rehabilitation robot, which has eight degree of freedoms, is studied. The motion data of the lower limb rehabilitation robot are got by the great number of models provided by OpenSim motion simulation. The physical simulation model of the walking gait rehabilitation robot can be established by UG. The dynamic simulation of the lower limb rehabilitation robot's walking gait is done. The simulation results of the angular displacement curves, the angular velocity curves, and the angular acceleration curves of the four joints of the lower limb rehabilitation robot are got in this paper. These results can be used in the position, velocity and force controlling of the lower limb rehabilitation robot. The simulation technique by computers can be adopted to make a quick and accurate analysis of the motion system of the lower limb rehabilitation robot, which is useful for the design of the robotic mechanics and the improvement of the control scheme.