Research on lower limb rehabilitation training device based on gravity balance

Based on the principle of constant total potential energy of the system, we designed a lower limb rehabilitation robot for MMT-2 level patients. It balanced The gravity of the patient's leg to a certain extent so that the patient can make full joint range of motion. After determining the operation range of each joint in human lower extremity and the average gravity of the leg, a specific structure was designed and the overall static and kinematic analyses were performed to verify that the stiffness and strength of the structure met the requirements and could achieve the required range of motion.