Mechanical design and Optimization on Lower Extremity Rehabilitation Robot

For patients with lower limb dysfunction, the center of gravity will move vertically and horizontally when performing rehabilitation training on a bench-type rehabilitation robot. At present, most of the exoskeleton robots use the fixed suspension method for patients, and the matching between the exoskeleton and the patients in the process of movement is poor. This paper designs an exoskeleton robot with an adaptive weight reduction system. The exoskeleton uses the tension sensor to detect the auxiliary force in real time and is used in the closed-loop control of the weight reduction system. The exoskeleton's backrest can move laterally from left to right, which can effectively adapt to the change of the center of gravity during the patient's movement. Firstly, the paper introduces the whole structure design of exoskeleton, including legs, back plate, damping system, bench and treadmill. Secondly, the forward and inverse kinematics of the exoskeleton legs are analyzed, and the exoskeleton's workspace and Jacobian matrix are solved. Finally, the main parts of exoskeleton are analyzed by workbench to check the strength and stiffness requirements.