Upper and lower limb linkage design and training trajectory planning of rehabilitation robot

With the rapid growth of stroke patients, the demand for rehabilitation level is becoming higher and higher. Up to now, the rehabilitation of patients is mainly divided into upper and lower limbs for trajectory training, but the overall linkage robot is still relatively few. The main goal of this paper is to design the upper and lower limb joints training track to achieve the overall rehabilitation of patients. Based on the previous designed mechanical arms and legs, this paper studies and designs the whole electronic control system which can control the four limbs. The mechanical arms and legs are modeled and analyzed integrated. At the same time, the human gait walking motion and the arm swing motion are discussed. Based on these works, the elliptical gait walking training trajectory and the arm swing training trajectory are designed. Then the training method of the whole exoskeleton rehabilitation robot is developed. Finally, The experimental results further verify the effectiveness and safety of this method.