Development of a exoskeleton robot for lower limb rehabilitation

摘要

Rehabilitative robot is a new technology that has been developed rapidly in recent years, especially for the exercise therapy. In this paper, a new design concept of lower limb rehabilitation robot has been proposed. This model can perform four degrees of freedom that is rotation in vertical planes. Its weight and size is acceptable for people to use in outdoors, and it is interactive friendly. Lower limb rehabilitative robot can be used to simulate the movement of normal humans leg movements and give the patients rehabilitative training to help them get better or even recover from illness. The lower limbs rehabilitative robot, as a rehabilitative robot, can be used to simulate the movement of normal human's walking posture and give the patients corresponding rehabilitative training to help the patients recover from illness. The proposed device allows great freedom of movements of the operator. In this paper, the analysis methods (e.g., the gait mechanism and gesture mechanism to get the mechanism parameters to adapt the normal human being's designing) is proposed in detail.