Design and Development of a Lower Limb Rehabilitation Robotic System

This paper presents the research carried out to design and develop a robotic system for the rehabilitation of the lower limbs. Therapists identified the need for a passive and active lower limb rehabilitation robotic system (LLRRS). The medical and technical requirements for an LLRRS were identified and analyzed. The concept of the project is to create an experimental model of an adaptive robotic system for the recovery of lower limbs (knee and ankle) with online access for the therapist/doctor. The design of the system was done in order for LLRRS to be used by patients in two situations: lying on a bed or sitting on a chair. At the same time, the design was done in order to adjust the LLRRS components' dimensions according to the anthropometric dimensions of the lower limb to align the joints. The components were designed and achieved using a 3D printer or mechanical processing or chosen according to the design process. All the components were mechanically assembled and electrically connected, and the control algorithms were implemented in the chosen control unit and HMI. The design and development were user-centred processes.