Design of lower limb rehabilitation exoskeleton with self-adaptive knee optimal force

Abstract

With the increasingly serious trend of population aging in China, various diseases of the elderly are emerging in an endless stream, including hemiplegia, half limb disorder, limb numbness, hemianopia, and aphasia, with a high disability rate. The available auxiliary device cannot make a clear assistance for the patient, so that this design plans to make an exoskeleton for the patients who need effective rehabilitation alternatives and improve the rehabilitation efficiency. In this design, we would create Solid works model with some joint to fit human knees and then select sensors which are suitable to collect signs to depict kinematics features. The model, which has self-adaptation for receiving force signs from calf and knee joint, depends on the different force points of the calf lift affecting the stress state of the knee joint. Because the different stress points of the calf lift directly affect the stress state of the knee, so to find the best stress point of the calf is the research direction of this paper. In order to find the best and the most suitable force point of the human lower limb, we two methods, step-by-step process and dichotomy process, were discussed and compared in this study. Reasonable material may decide the robotic features.