Development of Four-arms Rehabilitation Robot for Gait Training

摘要

Following the development of the ageing problem, the demand for rehabilitation of hemiplegic patients is increasing because of the raise of the number of stroke patients. In order to relieve heavy workload of physical therapist and realize operation uniformity, rehabilitation robot is proposed, which can reduce the burden on therapists and improve the rehabilitation effect of patients. However, mimics therapist ability is insufficient, for example, rehabilitation training methods of present robots are very different from therapist techniques. In addition, present rehabilitation robots are not convenient to wear. In this paper, we propose a novel type of four-arms rehabilitation robot for gait training. During the design process, we utilize medical analysis of the human body's lower limb physiology structural model and combine with engineering to establish a simplified model of human lower limbs. Then, we design the structural model of the lower limbs rehabilitation robot based on the tactical analysis of a therapist. We also establish the control system of the robot and take several groups of experiments to verify our presented mechanisms and systems. The results of experiments show that this method is worth further study.