Electrically Driven Lower Limb Exoskeleton Rehabilitation Robot Based on Anthropomorphic Design

Abstract

To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The angular range of the robot’s motion was determined according to the characteristics of the targeted lower-limb joints; the robot was given an active–passive anthropomorphic design with 12 degrees of freedom. The multi-degree-of-freedom hip exoskeleton, bionic artificial knee exoskeleton and passive rigid-flexible coupling ankle exoskeleton can assist patients in rehabilitation exercises with better wear comfort and exercise flexibility. A kinetic model of the seven-rod lower-limb exoskeleton rehabilitation robot was built, and data analysis of the dynamically captured motion trajectory was conducted. These provided a theoretical basis for gait planning and the control system of the lower-limb exoskeleton rehabilitation robot. The results show that the lower-limb exoskeleton rehabilitation robot system possesses sound wearing comfort and movement flexibility, and the degree of freedom of movement of the exoskeleton robot matches well with that of human movement. The robot can thus provide effective assistance to patients’ standing and walking rehabilitation training.

Use of Lower Limb Exoskeletons as an Assessment Tool for Human Motor Performance: A Systematic Review

“…In order to generalize the calculation of different motor parameters, one possible approach may be to create different levels in this model, and use a converter to unify the input data across devices. However, this approach would need to be validated for each device individually, for example, a current study tested their simulated model against a marker based system and found consistent results with regard to joint angles [ 106 ]. Furthermore, it has been shown that exoskeletons can also have a direct impact on motor performance (e.g., balance [ 107 ]).…”

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

“…Flexible exoskeleton robots can be said to combine all three of these aspects: eliminating the rigid frame of traditional exoskeletons, optimizing the actuation methods (often using motors, cords, and pneumatic drives) based on the use of lightweight materials [54][55][56][57][58], and allowing for good wearing comfort and safety and have become a rapidly developing feld of increasing importance in assistive, disability and rehabilitation training [59][60][61][62][63][64]. Furthermore, in terms of comfort, Gao et al [27] looked at bionic structures and human-robot coupling to improve the human-robot coupling of rehabilitation robot confgurations and the compatibility of movements, thus enhancing the comfort of human-robot interaction.…”

Observer Sliding Mode Control Design for lower Exoskeleton system: Rehabilitation Case

“…The importance of the Exoskeleton has increased recently as a result of the sharp rise in the number of older persons. This technology is mostly used to repair or improve people's capacity to walk or carry standard objects because lower-limb neurological injuries, hemiplegia, lower-limb weakness, and movement disorders are on the rise due to unhealthy lifestyles, traffic accidents, and sports injuries [19,20]. The majority of knee exoskeletons use this type of pin-joint, which has only one DOF and a fixed rotation axis, as their representation of the knee joint [21].…”