Control system of the lower limb rehabilitation robot

Abstract

A reduced mobility resulting from diseases or injuries frequently leads to elimination of the patient from active life and makes it impossible for them to continue employment. The rehabilitation exercises aimed at improving motor skills usually involves the arduous repetition of the same necessary exercises with the active participation of an experienced physical therapist. The aim of this paper was to present the control system of a rehabilitation robot that will allow us to reduce the physical therapist participation and will limit their physical effort, at the same time allowing them to better assess the progress of physical therapy delivered. The assessment of the adopted assumptions was performed using a prototype robot-the LEG-100 lower extremity exoskeleton whose control system was based on the assumptions presented in this paper. © 2012 Springer-Verlag.