title: Trajectory planning and mechanic's analysis of lower limb rehabilitation robot.
abstract: A new rehabilitation robot was designed. The robot included a suspension mechanism, a drive unit, and an adjustment mechanism. Additionally, innovative weight loss mechanism increased the dynamical device so that it could be used with patients of varying lower extremity muscle strengths. The relationship of hip and knee angles with height, step length, and gait cycle was studied. It was developed to generate different trajectories for different patients. Kinematics and dynamics were studied to lay the foundation for control.
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Tang
authors.initials: T
authors.lastname: Zhiyong
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Xu
authors.initials: X
authors.lastname: Xiaodong
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Pei
authors.initials: P
authors.lastname: Zhongcai
mesh_terms: D001186:Artificial Limbs; D003198:Computer Simulation; D019544:Equipment Failure Analysis; D006621:Hip Joint / Q000503:physiopathology*; D006801:Humans; D007719:Knee Joint / Q000503:physiopathology*; D008954:Models, Biological; D009989:Orthotic Devices; D011474:Prosthesis Design; D016059:Range of Motion, Articular; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*
keywords: Rehabilitation robot; dynamics; kinematics; medical design; trajectory planning