Systematic Design of a Sitting-Type Lower Limb Rehabilitation Robot for Stroke Patient

This study presented the design of a sitting type robot to support the lower limb rehabilitation for patients after stroke during the early stages. The robot was designed based on the exoskeleton structure, with hip, knee, and ankle joints, and at the calf and thigh wraps. The segments’ length can be adjusted to fit each patient object. The article presented the structure and operating principle of the joints. Kinetics and dynamics analysis were used to calculate and choose the power source for the device. Numerical and computational tests were used to check the safety of the structure. In addition, this paper uses a numerical simulation method to derive the motion trajectory of an ordinary person, which is the input data used in the device control process.