Implementation of omnidirectional lower limbs rehabilitation training robot

The design and implementation of an omnidirectional lower limbs rehabilitative training robot are described. The robot is designed to improve patient´s locomotion, who suffers from impairment in walking ability after neurology injuries. The robot is characterized with three key points as following: 1) a wheeled mechanical structure, 2) gait phase analysis system using wearable press sensors and 3) a real-time communication mechanism. With the specific mechanical structure, the robot can mobile within any radius in any direction. The robot detects a human subject´s gait phases and compares the data with the results from database, which is built by experiments on many persons. When the patient can´t keep up with robot, the robot automatically slows down to insure human body´s safety.