Comprehensive Mechatronic Design Methodology for 6-Dof Stationary Lower Limb Rehabilitation Exoskeleton Robot With Safety-Integrated Control Architecture

This paper presents the mechatronic design of a proposed six-degree-of-freedom (6-DOF) stationary lower limb rehabilitation exoskeleton (SLLRE) robot, developed through a comprehensive mechatronic design methodology that includes mechanical design, actuator and sensor selection, and the development of a control structure based on a safety-oriented control approach. The proposed 6-DOF SLLRE mechanical design introduces a comprehensive mechanical structure comprising bilateral hip, knee, and ankle joints, degrees of freedom, joint ranges of motion, human parameters for rehabilitation training, as well as the frames and structural elements of the proposed system. Furthermore, the selection of appropriate sensors, actuators, and control architecture for the proposed device is explained in detail based on the requirements of the safety control strategy. As a result of this study, a human-exoskeleton interface design as a safety mechanism proposed and designed for next step as a creation process based on addressed critical requirements for lower limb gait rehabilitation including stroke recovery, spinal cord injury therapy, and gait retraining applications. The recommendations for future research offer as assistance at the end of this paper.