Electrically Driven Lower Limb Exoskeleton Rehabilitation Robot Based on Anthropomorphic Design

To help people with impairment of lower extremity movement regain the ability to stand and walk, enhance limb function, this study proposes an anthropomorphic design electrically driven, lower-limb exoskeleton rehabilitation robot. The angular range robot’s motion was determined according characteristics targeted joints; robot given active–passive 12 degrees freedom. multi-degree-of-freedom hip exoskeleton, bionic artificial knee passive rigid-flexible coupling ankle can assist patients in exercises better wear comfort exercise flexibility. A kinetic model seven-rod built, data analysis dynamically captured trajectory conducted. These provided a theoretical basis for gait planning control system results show that possesses sound wearing flexibility, degree freedom matches well human movement. thus provide effective assistance patients’ standing walking training.