Analysis for the foot board lower limb rehabilitation robot

Currently the lower limb rehabilitation robot research focuses on the exoskeleton robot, however, the effect of rehabilitation training of the exoskeleton rehabilitation robot for ankle is not satisfactory. Based on the research of the lower limb rehabilitation robot, this paper puts forward a new type of foot board rehabilitation robot, which is composed of two horizontal movement mechanisms and two five-bar mechanisms. The horizontal movement mechanism and five-bar mechanism coordinate their work, so the robot can achieve multiple modes of rehabilitation training, such as: ground walking training, stair climbing training, stair downing training and slope climbing training. In order to testify that this robot can carry out such rehabilitation training, there is a need to know that the trajectory of the robot under rehabilitation training is just like the trajectory of normal people. Due to the length limitation, this paper only simulates the mode of ground walking. Firstly, we use NDI OPTOTRAK and treadmill to measure the walking gait trajectory and angle of ankle for this robot, extracting a single cycle data from gait trajectory and then fitting the data with polynomial and sine function using MATLAB. Secondly, the kinematics analysis of the robot has been done, and the fitting data are used for the kinematics analysis of human walking. Finally, a robot kinematics model is set in MATLAB /SIMULINK module and is simulated. The results of simulation provide a reliable basis for the design of control system and the manufacture of physical prototype.