Design of Omnidirectional Motion System in Rehabilitation Robot

Lower limbs rehabilitation robot combines kinesitherapy with psychotherapy organically and provides a effective medical appliance to recover limb function for the patients. The rehabilitation robot designed in this paper uses advanced omnidirectional wheel structure chassis that can move toward all directions without rotation, its motion range do not have dead angle and the using demand are also decreased. The control system of omnidirectional wheel chassis consists of ATmega16 mcu, it has manual and automatic control modes.