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Trajectory planning and mechanic’s analysis of lower limb rehabilitation robot

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Zhiyong, Tang; * | Xiaodong, Xu | Zhongcai, Pei

Affiliations: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Correspondence: [*] Address for correspondence: Tang Zhiyong, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China. Tel.: +8601082339730; Fax: +8601082339730; E-mail: zyt_76@buaa.edu.cn.

Keywords: Rehabilitation robot, medical design, trajectory planning, dynamics, kinematics

DOI: 10.3233/BME-151322

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S347-S355, 2015

Published: 2015
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A new rehabilitation robot was designed. The robot included a suspension mechanism, a drive unit, and an adjustment mechanism. Additionally, innovative weight loss mechanism increased the dynamical device so that it could be used with patients of varying lower extremity muscle strengths. The relationship of hip and knee angles with height, step length, and gait cycle was studied. It was developed to generate different trajectories for different patients. Kinematics and dynamics were studied to lay the foundation for control.

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