Mechanism design and optimization for electric reciprocating gait orthoses

Aiming at solving the problems of great physical consumption of patients, serious distortion and big difference in gaits, and weak effect in knee rehabilitation in traditional reciprocating gait orthoses (RGO), improved design is developed in RGO. Driving mechanism is added to knee joints and hip joints on the electric reciprocating gait orthoses to develop an electric reciprocating gait orthoses (ERGO), which can be worn on the lower limb of patients and help those without walking ability to realize walking function. Because of the complexity in the human lower limb movement joints, differences between orthoses and human lower limb movement joint exist inevitably. Therefore, through the optimization in mechanism to make the movement law and terminal trajectory closer in hip and knee between man and machine, unnecessary damage to patients caused by the man-machine movement deviation in the use process is effectively avoided. Based on the above research and experimental tests, the feasibility and effectiveness of optimize results of ERGO is verified.