ROBOTIC LEG EXOSKELETON FOR PARTIAL GAIT REHABILITATION

摘要

An apparatus for leg movement includes a stand (1), an adjustable harness assembly (4) for coupling a patient to a stand (1) so as to support the weight of the patient, and a robotic exoskeleton structure (9), having an exoskeleton stand mount (11) connected to the stand (1), an actuator mounting (10) connected to the exoskeleton stand mount (11), a hip joint (12) exoskeleton stand mount (11), a thigh segment (13) pivoted to connected to the hip joint (12) and to be fastened to the patient's leg, a knee joint (14) pivoted to the thigh segment (13), a shank segment (15) connected to the knee joint (14) and to be fastened to the patient's leg, a hip actuator ( 17) connected between the actuator mounting (10) and the hip joint (12) and configured to move the thigh segment (13) relative to the exoskeleton stand mount (11), and a knee actuator (25) connected between the thigh segment (13) and the knee joint (14) and configured to move the shank segment (15) relative to thigh segment ( 13) o Movement of the robotic exoskeleton structure (9) is controlled by a programmable control system (90) that is coupled to the hip and knee actuators (17, 25).