Mechanically Assisted Neurorehabilitation: A Novel Six-Bar Linkage Mechanism for Gait Rehabilitation

Repeated and intensive gait training can improve muscle strength movement coordination of patients with neurological or orthopedic impairments. However, conventional physical therapy by a physiotherapist is laborious expensive. Therefore, this not accessible for the majority patients. This paper presents six-bar linkage mechanism human rehabilitation natural ankle trajectory. Firstly, selected as original to construct device. Then trajectory formulated function crank angle. And rotation angle set linear time. constant speed motor sufficient control mechanism. For dimensional synthesis, precise point distances coupler curve are objective functions, kinematic constraints including in optimization procedure. To obtain optimal structure design parameters, cooperative dual particle swarm algorithm developed. The results show that matches well average distance between 60 precision points 3.5 mm.