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Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot

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Abstract

This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb, which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait training. The rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC ADAMS. For the purposes of lightweight, the exoskeleton mechanism is optimized through finite element analysis. It can be concluded from performance evaluation experiment, the mechanism has certain advantages over existing exoskeleton robots, namely, comfortable, lightweight, low cost, which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

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Acknowledgements

The work is supported in part by the National Natural Science Foundation of China under Grants (61873304), and in part by the China Postdoctoral Science Foundation Funded Project under Grant (2018M641784), and also in part by the Funding of Jilin Province Science and Technology (JJKH20210745KJ).

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Authors and Affiliations

  1. Department of Control Engineering, Changchun University of Technology, Changchun, 130012, China

    Wanting Li, Keping Liu, Zhongbo Sun & Jian Gu

  2. Centre for Robotics and Neural Systems, University of Plymouth, Plymouth, PL48AA, UK

    Chunxu Li

  3. School of Mechatronical Engineering, Changchun University of Technology, Changchun, 130012, China

    Shui Liu

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  1. Wanting Li
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Correspondence to Keping Liu.

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Li, W., Liu, K., Li, C. et al. Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot. J Bionic Eng 19, 688–699 (2022). https://doi.org/10.1007/s42235-022-00172-6

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