Development of a Novel Lower Limb Rehabilitation robot in the Bed

This paper presents the mechanism design and coordination control strategy of a lower limb rehabilitation robot in the bed, which may be helpful for improving the rehabilitation quality of patients with limb injuries when staying on the bad. It not only has a variety of rehabilitation training mode, but also has an adjustable structure and simple operation. It is more adaptable and friendly to patients in different circumstances. We conducted in-depth research on the configuration design, human kinematics analysis and man-machine coordination control of the horizontal lower limb rehabilitation robot. A prototype experimental platform developed to validate the effectiveness of the proposed control method. The result shows that the rehabilitation robot can meet the training needs of patients with different posture and injury degree in various stage of rehabilitation.