Structural design and modal analysis of exoskeleton robot for rehabilitation of lower limb

摘要

According to the actual needs of rehabilitation training after knee joint replacement surgery, and based on ergonomics, the idea of personification design and the basic design idea of force transfer between human body and exoskeleton are discussed, objective to develop a rehabilitation exoskeleton robot for leg rehabilitation after knee joint replacement surgery. The robot can detect the movement trend of the human body, judge the motion intention in use, and promote the movement of the hind leg, so as to achieve the purpose of rehabilitation training of the knee joint. The modal analysis of the lower limb rehabilitation exoskeleton robot is carried out, and the first six order natural frequencies and vibration modes are obtained.