Kinematics and Dynamics Modeling for Lower Limbs Rehabilitation Robot

  • Qian Zhang
  • Min Chen
  • Limei Xu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


Gait training is very important in the rehabilitation of neurological patients like stroke patients and spinal cord injury patients. To help those patients, a lower limb rehabilitation robot is developed. For obtaining a feasible gait, more accurate models based on ergonomics are necessary. We did gait experiment of human walking in order to reproduce the human gait. As a result of this experiment, we confirmed the effectiveness of the models to be established. Mathematical models in different phase are built based on the experiment. Kinematics modeling was presented. Finally, dynamic models based on Newton-Euler equations of the lower limbs rehabilitation robot during different phase were established. These models will provide more accurate data for the control system.


gait training rehabilitation robot kinematic and dynamic analysis 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Qian Zhang
    • 1
  • Min Chen
    • 1
  • Limei Xu
    • 1
  1. 1.School of Aeronautics and AstronauticsUniversity of Electronic Science and Technology of ChinaChengduPRC

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