Proposing Method to Solve Kinematics Problem of a Lower Limb Rehabilitation Robot

This study proposed a method to solve the Kinematics of an exoskeleton system based sitting/lying-type lower limb rehabilitation robot. Based on the modularization design, the movable seat can be separated from and grouped into the lower limb rehabilitation robot, which is convenient for patients to sit down. The goal of this research is to help the robot mimic human gait over time accurately, an angular trajectory planning method is proposed based on the polynomial interpolation method of the measured human gait. The parameters measured by sensor of the angular trajectory of the human gait include angle, angular velocity and angular acceleration. The efficiency and accuracy of the proposed method are compared with each other to see if which is the most appropriate to refine the error by angle, angular velocity or angular acceleration.