Implementation of Lower-Limb Rehabilitation System Using Attraction Motors with a Treadmill

This paper proposes a prototype of a lower-limb rehabilitation system for recovering and strengthening patients- injured lower limbs. The system is composed of traction motors for each leg position, a treadmill as a walking base, tension sensors, microcontrollers controlling motor functions and a main system with graphic user interface. For derivation of reference or normal velocity profiles of the body segment point, kinematic method is applied based on the humanoid robot model using the reference joint angle data of normal walking.

Authors:

• Young-Lim Choi
• Nak-Yun Choi
• Jae-Yong Seo
• Sang-Il Park
• Jong-Wook Kim

Keywords:

• Rehabilitation
• lower limb
• treadmill
• humanoid robot.

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