Development Of A ۶-DOF Assistive Robot For Lower Limb Rehabilitation

This paper details the design and kinematic analysis of a lower limb rehabilitation robot designed to enhance motor function in post-stroke patients. The study begins by focusing on the design criteria of the robot, followed by an in-depth discussion of the robot's kinematics, covering the movements of the hip, knee, and ankle joints. The workspace of the robot is then illustrated. Using the joint angles, the forward kinematic simulation examines the positions of the knee and ankle joints at each moment. MATLAB software is used to execute the forward kinematics simulation of the lower limb, and the results are validated through ADAMS software. The robot features an assistive leg with ۶ degrees of freedom, driven by independent actuators at the knee and hip joints within the sagittal plane. It is designed to assist in the walking of patients who have experienced a stroke. The ultimate aim of this research is to develop a new wearable robot to support the rehabilitation of these patients.

کلیدواژه ها:

Robotics ، Rehabilitation ، Kinematics ، Stewart Platform ، Medial/Lateral Rotation