Development of a Compliant Lower-Limb Rehabilitation Robot Using Underactuated Mechanism

Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative are bulky prone to misalignments between robot human joints. These drawbacks hamper LLRR application, leading poor arthro-kinematic compatibility. To address these challenges, this paper proposes a novel with portability compliance features. The developed consists of an underactuated mechanism crus linkage, respectively corresponding the hip knee is new type remote center motion (RCM) two sets contractible slider cranks that can reduce then optimized using particle swarm optimization method, robot’s kinematic analysis presented. proposed be simplified as two-link ability easily plan its trajectory modified Denavit–Hartenberg method. Finally, passive exercise trials demonstrate mismatch angles joints less than 2.1% range motion, confirming feasibility effectiveness robot.