Researchers have developed a lower-limb rehabilitation robot system specifically designed for proprioceptive training, addressing the limitations of conventional robot-assisted therapy that often lacks adequate sensory feedback. The system replicates complex foot movements—including dorsiflexion, eversion/inversion, and abduction/adduction—to stimulate proprioceptive pathways more effectively.
Key takeaways
- Integrates surface electromyography (sEMG), pose sensors, and six-axis force sensors to capture end-effector trajectory and human-robot interaction data.
- Employs a proportional-derivative controller with a disturbance observer for precise closed-loop pose control.
- Features a responsive variable-admittance control strategy based on sEMG signals, creating controllable unstable environments that encourage voluntary postural adjustments to prevent falls.
- Offers two training modes: standing and walking on dynamic terrain, both aimed at enhancing proprioceptive input.
- Experimental results show significantly increased activation of major lower-limb muscles, with varied muscle load and contraction types, indicating improved proprioceptive function and neuromuscular response.
The findings validate the effectiveness and safety of the proposed rehabilitation strategy, suggesting potential for improving recovery efficiency in practical clinical settings.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-03-15 · “一种面向本体感觉训练的下肢康复机器人系统”