Lower Limb Rehabilitation Robot

This paper describes a new prototype of lower limb rehabilitation robot (for short: LLRR), including its detailed structure, operative principles, manipulative manual and control mode which give considerate protection to patients. It implements the programmable process during the course of the limbs rehabilitation, furthermore, renders variable and predetermined step posture and force sensing. LLRR could assist patient in-simulating normal people's footsteps, exercising leg muscles, gradually recovering the neural control toward walking function and finally walking in normal way utterly. Such robot is comprised with steps posture controlling system and weight alleviation controlling mechanism.