Abstract:

Lower limb exoskeletal orthosis is developed on the basis of body weight support training. Because lower extremity rehabilitation training robot does not have a fixed base, it is hard to use common means for kinematics analysis. This paper introduces coordinate matrix transformation of reference coordinates, establishes a kinematics model of the exoskeleton orthosis, and derives kinematic formulae of rehabilitation robots for lower extremity. Simulation in ADAMS and experiments of exoskeletal orthosis show that the method and formulations are correct after gait planning.

Key words: exoskeletal orthosis; kinematics; mechanism