Design and Analysis of a New Robotic Mechanism for Lower Limbs Rehabilitation

Stroke is the leading cause of disability in the elderly population. Rehabilitation in a general sense aims to return a person to their activities of daily living. Therapeutic exercises are important for the maintenance of joints. When a joint is immobilized for long periods of time is likely to suffer severe damage. In this paper, a new robotic mechanism that allows circular movements to the lower limbs rehabilitation is proposed. The system consists of 5 DoF to perform combined movements to the lower limbs. The kinematics of the leg and the robotic mechanism are shown in detail. The simulations were performed using MATLAB. The leg trajectories are circular in 2D and 3D. In conclusion, this new robotic mechanism performs new circular exercises to the leg, which are difficult to perform manually by the therapist.