Research on the lower limb gait rehabilitation

This paper proposes a lower limbs gait rehabilitation machine which is used to help the patients to recover walking ability of lower limbs. The machine includes left leg gait training mechanism and right leg gait training mechanism, and each mechanism consists of a four-bar mechanism with one degrees of freedom and a foot plate. Since the crank of the four-bar mechanism on the both sides is driven by one motor and each foot plate on the both sides is driven by one motor, the robot has three degrees of freedom. The robot can simulate human walking to achieve the purpose of recovering walking function. In this paper, the design idea and parameter optimization are described, the kinematics and dynamics are analyzed, and the virtual prototype design and simulation are done. The simulation results can be further applied for the optimization of the mechanical parameters while supplying necessary data and building a theoretical foundation for subsequent research.