An Adaptive Lower Limb Rehabilitation Exoskeleton Robot Designing Scheme

Abstract

The model of a kind of lower limb exoskeleton robot with three degrees of freedom and knee-to-joint automatic alignment is proposed in this paper. The model mainly addresses the adaptability of the lower limb exoskeleton robot to different motion postures and human body structures. The second joint in the lower limb exoskeleton robot is provided with a sensor mechanism for the coordination between the movable joint and the knee of the human lower limb. In the work, SolidWorks was used for modeling the lower limb exoskeleton, and MATLAB was used for simulation and analysis to verify the feasibility of the proposed model. Results show that the designed lower limb exoskeleton robot has good safety and improves the coordination between the subject legs and the robot. This work provides a lower limb exoskeleton rehabilitation robot with reasonable structure and more humanization and develops align the lower extremity knee joint with the robotic joint, improves subject acceptability and safety.