Novel Exoskeleton Design of Lower Limb Rehabilitation Robot Using Pneumatic Cylinder

Many people nowadays suffer physical limits because of spinal cord injury, stroke, or an accident. Lower limb difficulties are a major source of disruption in these people’s everyday lives. Many assistance devices for lower limb movement have been developed to help people with their daily duties. This study introduced a novel exoskeleton design based on a pneumatic cylinder for a lower limb rehabilitation robot. The pneumatic cylinder system was used as the actuators to implement the robot movement and to ensure operational safety, rapid point-to-point movement, and cleanliness for rehabilitation. The results showed that the lower limb gait training robot was developed with parallelogram mechanism and a suggested control system can be utilized to satisfy the gait training robot requirements.