Omnidirectional lower limbs rehabilitation training robot based on biofeedback

This paper describes the design and application of an omnidirectional lower limbs rehabilitation training robot. The robot is designed to improve patient walking ability, who suffers from impairment in locomotion after neurology injuries. The robot is characterized with three key points as follows: (1) omnidirectional wheeled mechanical structure, (2) real-time biofeedback mechanism, and (3) balance analysis system through pressure sensors. With the specific mechanical structure, the robot can move within any radius in any direction. The robot detects human´s balance, then compares the detected values with data from a database, which is built by experiments on many persons to give the patients personalized training advice. When the patients can´t keep up with robot or lose their balance, the robot slows down automatically to ensure human body´s safety.