Authors:
Gab-Soon Kim
;
Han-Sol Kim
and
Jae-Hyun Jung
Affiliation:
Gyeongsang National University, Korea, Republic of
Keyword(s):
Rehabilitation Robot, Linear Motion Mechanism, Link, Forward Kinematics, Inverse Kinematics.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
We describe the design of a special lower limb rehabilitation robot for leg patients and its operation. The lower limb rehabilitation robot is composed of linear motion mechanisms, links, a foot plate, a joint and two-axis force sensors. The links and the foot plate are rotated according to the linear motion mechanisms. The bending motions of the hip, knee, and ankle are performed. The designed rehabilitation robot was subjected to tests involving hip joint bending, knee joint bending, and ankle joint bending exercises, and the robot operated smoothly. Therefore, it can be concluded that the designed rehabilitation robot can be used on leg patients, for the three exercises stated above.