Design and Analysis of A New Plantar Driven Rehabilitation Robot
In view of the current situation that there are many patients with lower limb movement disorders and patients at different stages of rehabilitation have different needs for rehabilitation training,a plantar driven lower limb rehabilitation robot with adjustable motion trajectory and amplitude is designed.The robot includes a seat with adjustable back angle and chair height,and a five-bar motion mechanism with adjustable motion trajec-tory and amplitude,which can be applied to patients of different heights and rehabilitation periods.Firstly,the structural design of the rehabilitation robot is completed according to the patient's lower limb training require-ments.Then,the joint motion model of the plantar driven rehabilitation robot and human body is established,and the kinematics of the model is analyzed,which proves that the designed plantar driven rehabilitation robot has the possibility of realizing personalized lower limb rehabilitation training.Finally,the trajectory of lower limb movement is analyzed,and the results show that the robot can achieve normal gait movement.
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