Kinematics and Dynamics Modeling for Lower Limbs Rehabilitation Robot

摘要

Gait training is very important in the rehabilitation of neurological patients like stroke patients and spinal cord injury patients. To help those patients, a lower limb rehabilitation robot is developed. For obtaining a feasible gait, more accurate models based on ergonomics are necessary. We did gait experiment of human walking in order to reproduce the human gait. As a result of this experiment, we confirmed the effectiveness of the models to be established. Mathematical models in different phase are built based on the experiment. Kinematics modeling was presented. Finally, dynamic models based on Newton-Euler equations of the lower limbs rehabilitation robot during different phase were established. These models will provide more accurate data for the control system.