Design and implementation of a lower-limb mobile training robot

This paper aims at the development of a lower-limb mobile training robot that provides adequate motion functions such as the passive and resistive motions of multiple joints for increasing training performances and for shortening training programs. Although some commercialized training machines and some developed lower-limb rehabilitation robots can perform adequate motion functions during lower-limb training programs, the weight and size limit the location for using those machines in daily living environments. Therefore, this paper presents a mobile training robot with adequate motion control design not only to provide good training performances but also to be used in daily living environments with less limitation to the setup locations. The Kinematics and force-driven control of two-wheeled mobile training robot. For sensing the interactive forces between the trained lower limb and the training robot, a biaxial force-sensing device is also developed in this paper. Moreover, by using the force-sensing device and the force-driven motion control, three operations modes, continuous passive motion (CPM) mode, continuous active motion (CAM) mode, and hybrid motion (HM) mode, are developed for the applications of the different training programs. Several tests are applied to evaluate the execution performances of the developed mobile training robot, and the experimental results indicate that the training robot is feasible for the application of lower-limb training and rehabilitation.