Structural Design and Analysis of Knee Joint Rehabilitation Exoskeleton Robot

This paper provides the design and optimization of a knee rehabilitation exoskeleton robot, focusing on mechanical structure, material selection, and motion mechanics analysis. First, it starts by identifying design requirements based on knee joint biomechanics. The design uses a tandem elastic actuator as the main power source and includes a crank guide rod mechanism to adjust the lengths of the thigh and calf segments. This helps reduce the peak force demand during actuation and improves the comfort of human-computer interaction and the degree of lightweight of the device. The study also analyzed the kinematic parameters of the knee joint to ensure that the exoskeleton can effectively support the needs of patients during rehabilitation training and limit the knee range of motion to a safe range through the mechanics. Furthermore, the paper compares the properties of three materials, titanium alloy, carbon fiber, and aluminum alloy, and discusses how to balance factors such as strength, weight, durability, and cost in exoskeleton design. The final design of the exoskeleton robot is not only suitable for rehabilitation training but also able to provide continuous power support for patients with permanent disabilities and effectively improve their quality of life.