A Lower Limb Rehabilitation Robot with Rigid-Flexible Characteristics and Multi-Mode Exercises

Lower limb rehabilitation robot (LLRR) can effectively help restore the lower limb’s motor function of patients with hemiplegia caused by stroke through a large number targeted and repetitive training. To improve safety comfort robot-assisted rehabilitation, we developed an LLRR rigid-flexible characteristics; design passive joints is used to human-machine compatibility; flexible unit makes mechanism have certain characteristics. Three different training methods been adapt at stages namely, exercise, active exercise resistance respectively. Experiments healthy subjects conducted verify effectiveness development modes LLRR, showing good compatibility trajectory tracking performance methods.