Development of a parameter adaptation robot for lower limb rehabilitation

This paper describes a novel under-actuated lower limb rehabilitation training robot, which can resolve the problem of joint neutrality of the existing lower limb rehabilitation training robots. The presented under-actuated robot system has four linear drives and the linear motion can be transformed into the flexion and extension of lower limbs in the sagittal plane through human-machine connection mechanism. Human-machine coupling model is built, and then forward and inverse kinematic analysis is carried out. Besides, the online identification method of human parameters and connection parameters in coupling system is studied. Finally, based on the above research, the trajectory planning algorithm is studied, and the correctness of the algorithm is verified by simulation.