Development of LeHab robot for human lower limb movement rehabilitation

Rehabilitation is very important for patients who suffer from stroke or spinal cord injury. To restore musculature, it is necessary to prepare for the next step of therapeutics. The passive exercise is one of the method to maintain the musculature and prevent complication as deep vein thrombosis (DVT) as the patient cannot move leg until patient has been recovered. After that active exercise can be applied afterwards to maintain leg muscle and recover strength. In the past, the physical therapists are the person to use for treatment. The passive exercise and active exercise required a long time that makes physical therapists get fatigue. So Lehab robot was designed to assist therapist and improve quality of treatment. This robot was designed with four degree of freedom. Hip flexion-extension adduct-abduct, knee flexion-extension, ankle dorsiflexion-plantarflexion by applied PID controller for control each other joint of robot.