Structural Design and Gait Analysis of a Novel Lower Limb Rehabilitation Exoskeleton Robot

With the acceleration of population aging, lower limb dysfunction has caused serious obstacles to people's normal work and life, which has brought many serious social problems. Lower limb rehabilitation exoskeleton robots have become important equipment in home care environment. However, there are few reports on the research of lower limb rehabilitation exoskeleton robots with both lightweight and natural human gait. In this study, we used the D-H parameter method for kinematic modeling, a lightweight and safe lower limb rehabilitation exoskeleton robot is developed, including its structure and kinematic modeling. A gait analysis system based on OpenCV (Open Source Computer Vision Library) was built, which captured user's body movements and postures through a camera, performed posture recognition and key point detection, and monitored and evaluated patients' health indicators. The results of gait analysis experiments based on the lower limb rehabilitation exoskeleton robot showed the robot is safe and effective in simulating natural human gait and rehabilitation training. Preliminary research results showed that the lower limb rehabilitation exoskeleton robot has great significance for lower limb rehabilitation training and assisted walking, which can provide important theoretical and experimental reference for the research of rehabilitation medical robot.