Structure Synthesis of Wheelchair-type Lower Limb Rehabilitation System Based on Exercise Rehabilitation

This paper presents a new way of structure composition of wheelchair-style lower limb rehabilitation mechanisms to develop a systematic and modularized structure synthesis methodology of exercise rehabilitation mechanisms based on exercise rehabilitation.First, the movement principle of hip and knee joints under exercise rehabilitation on chair is deduced in order to provide structure formulation.Then, two structures are researched according to the proposed principle.Further, the simulation experiments for the structures have been done to verify the proposed approach and the experimental results show that the average cumulative error of hip joint is 4.43% and the average cumulative error of knee joint is 0.01%.