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Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot

Wang, H.; Shi, X.; Liu, H.; Li, L.; Hou, Z.; Yu, H.


H. Wang

X. Shi

H. Liu

L. Li

Z. Hou


This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot has the feature that three rotary joints consist of three crank rocker mechanisms with an identical module. The paper covers mechanism design and optimization, kinematics analysis and trajectory planning, motion simulation, the control system design, and experiments. The simulation and experimental results demonstrate that the proposed rehabilitation robot is safe and reliable with the effective design and better kinematic performance.

Journal Article Type Article
Online Publication Date Jul 18, 2011
Publication Date 2011-09
Deposit Date Jun 18, 2022
Journal Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Print ISSN 0959-6518
Electronic ISSN 2041-3041
Publisher SAGE Publications
Peer Reviewed Peer Reviewed
Volume 225
Issue 6
Pages 860-872
Keywords lower-limb rehabilitation robot, design, kinematics, simulation, experiment
Public URL