Active motion for rehabilitation with LEG-Exoskeleton suit

Abstract

The rehabilitation is to restore the patient's physical, sensory, and mental capabilities due to injury, illness, or disease. Active motion is one important aspect of rehabilitation for increasing or maintaining joint function providing appropriate resistance to the muscles to increase endurance and strength. This rehabilitation motion is influenced by bone surfaces within the joint, joint capsule, ligaments, tendons, and muscles acting on the joint. The meaning of active motion for rehabilitation is movement of a joint by patient's effort. In this motion, there is no outside force from therapist to help in the movement. In this paper, the new hardware design is introduced and the possible motions of each joint are calculated. The relative positions of each joint are determined by Denavit-Hartenberg method. In the simulation, the revolute, speed and acceleration of each joint in left side are studied to construct the real hardware. ©2012 Pushpa Publishing House.