Mechanism Design and Performance Analysis of a Sitting/Lying Lower Limb Rehabilitation Robot

To meet the various need of stroke patients’ rehabilitation training and carry out complex task in real scenes, structure a lower limb robot with movements sagittal plane coronal is usually complicated. A new sitting/lying (LOBO) simple mechanism form proposed, which designed based on 2-PRR parallel mechanism. First, kinematics, singularity, condition number are analyzed, provides basis for parameter design. Then, through proportional–derivative control principle, real-time tracking LOBO’s trajectory realized. Finally, length parameters volunteers’ limbs collected, experimental verification conducted passive mode. The results show feasibility movement human planes. LOBO will help realize synchronous continuous hip, knee, ankle joints spatially, could drive future clinical research. can also be applied to muscle strength elderly combat effects aging.