A mobile lower limbs rehabilitation robot for standing assistance and motion control

With the aggravation of aging in the world, walking ability is a major problem for elders and disorder patients. However, most lower limbs rehabilitation robots only focus on rehabilitation training, and there are few robots considering standing up motion for the patients. In this paper, we developed a kind of mobile lower limbs rehabilitation robot to help the elders and disorder patients carry on daily walking and gait training. Especially, a lifting system which considering patients' natural standing up motion was added to the robot to help them to arise from a kneeling position to a standing one. A PID control method based on a infrared distance sensor detection was proposed in this paper to make the robot adapt to the movement of patients' walking A infrared distance sensor filter based on amplitude-limiting method was performed to reduce the measurement error. Experiments carried out on eight healthy subjects which were asked to wear a sensor system have proved the effectiveness of the proposed control method.