Development And Research Of Ankle-foot Rehabilitation Exoskeleton Orthosis

Exoskeleton is a special type of wearable android system which combined human's intelligence and robot's execution, used for people. It is likely to avoid the shortcomings of the traditional rehabilitation training that the rehabilitation efficacy is limited by the ability and the individual experience of the therapist when the exoskeleton is introduced in the rehabilitation training for foot drop and pigeon-toed patients. Besides, it frees the therapist from physical work so that they can pay more attention on the superior works such as rehabilitation efficacy evaluation and rehabilitation schemes development, finally, being benefit for the patients.The subject named ankle-foot rehabilitation exoskeleton orthosis is an exoskeleton system used in rehabilitation area. The main content of this subject is: 1) Subject is referenced for worldwide researches of ankle-foot rehabilitation system and in-depth study of the ankle joint included physiological structure and mechanism of movement and rehabilitation; 2) The mechanical structure of the system is wearable, comfortable, strong, durable, lightweight, portable and realizes the three degrees of freedom of the ankle joint activities; 3) Its control system which is PC-based environment and used brushless DC motor as the driving force ensure that the exoskeletons movements is precise, smooth, secure and reliable; 4) The development of human-computer interface program compared with the traditional physical interface is more flexible, more humane and more powerful. It can control the system implementing the required actions directly and monitoring the real-time rehabilitation training process in the PC system environment, which will help therapist to carry out works of rehabilitation efficacy assessment and program development; 5) Based on exoskeleton prototype system, a series of ankle-foot rehabilitation training experiments are carried out which demonstrate the functionality and reliability of the exoskeleton system.The successful establishing of the ankle-foot rehabilitation exoskeleton orthosis provides research platform and practical experience for the workers who will continue the study in the future.