Design and optimization of a footpad-type walking rehabilitation robot

In order to improve and restore the motor function of the patients with motor dysfunction of lower limbs and help the elderly people walking rehabilitation training, a footpad-type walking rehabilitation robot is being developed, which is composed of two sets of symmetrical walking rehabilitation mechanism. The footpad of each walking rehabilitation mechanism is driven by one drive element and guides the patients´ foot to simulate the normal walking gait rules. The motion rehabilitation of the patients´ lower limbs joints can be realized by this robot using ingenious mechanical constraints. The kinematics model of the walking rehabilitation mechanism was also established. Based on the data of the lower limbs joints angle measured by the anthropometric system, the structure dimension was optimized and analyzed, and the optimal dimension parameters of the walking rehabilitation training robot were obtained. The simulation results show that the walking rehabilitation robot can simulate the approximate normal walking gait rules, and drive human´s lower limbs, especially the ankle joints, to realize the regular walking rehabilitation training.