Design and Development of a Wearable Rehabilitation Robot

摘要

In this paper, we present the design and development of a wearable robot for the lower limb rehabilitation including the mechanical, electrical system, software implementation, etc. To make the robot wearable and portable and simplify the mechanism structure, servo motors are used as robot's joints. A friendly human robot interface is designed to make the robot easy to use. The dynamics of the robot is described by a 2-link rigid robotic manipulator in the joint space. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limb rehabilitation robot-assisted system.