A Flexible External Skeleton Robot for Rehabilitation Exercise of Rats with Paralysis of Lower Limbs

  • Duo Na
Keywords: Soft External Skeleton, Skeleton Robot, Rehabilitation Training, Lower Limb Paralysis


Because mice are softer and more fragile than humans, even small drives can cause serious damage to
mice in the event of a breakdown. Therefore, it is very necessary to introduce the soft drive/flexible external
skeleton robot into the application of limb movement rehabilitation in mice. The purpose of this paper is to
develop an automated device for the rehabilitation of lower limbs in mice, namely an external skeleton robot.
This paper firstly combines the traditional limb rehabilitation therapy, external skeleton robot technology and its
application in the rehabilitation of limbs. It analyzes the feasibility of the traditional method in this project and
proposes the use of flexible drive to construct the external device. Skeleton robot program. According to the
biological characteristics of the lower limbs of the mice, the requirements of the required drivers for the project
were obtained. Combined with the design of the similar soft-drive driver in the past research, two soft-drivers
based on super-soft silicone were identified and given Production process. This article also analyzes the
characterization process of these two drivers, the analysis shows that the two drivers are fully suitable for the
intended needs. The design of the flexible external skeleton robot of the entire system and the design of its
control system are planned. Designed and developed a multi-degree-of-freedom positioning device for fixing the
flexible driver, and the link parts of the driver and the mouse thigh bone, designed a bending driver that meets
the specific requirements of the project, and built an external skeleton robot for the mouse. The experimental
results show that the flexible external skeleton robot operates normally under the control of the control system
and meets the expected requirements. It realizes the function of rehabilitation and training of lower limb
exercise in mice.