Human-machine Comfort Optimization Study of Knee Joint with Lower Limb Rehabilitation Exoskeleton Robot

SUN Xufang; LIU Cankui; HU Qianwen; FU Xiaoli; GUO Menghao; MA Ningning

doi:10.19554/j.cnki.1001-3563.2025.22.004

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Packaging Engineering ›› 2025, Vol. 46 ›› Issue (22) : 24-35. DOI: 10.19554/j.cnki.1001-3563.2025.22.004

Special Subject: Product Design, Manufacturing and Service Coor曲nation Optimization Driven by Data and Model Int，电ra世on

Human-machine Comfort Optimization Study of Knee Joint with Lower Limb Rehabilitation Exoskeleton Robot

SUN Xufang¹, LIU Cankui^1,*, HU Qianwen², FU Xiaoli¹, GUO Menghao¹, MA Ningning¹

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Abstract

The work aims to enhance the comfort of lower limb rehabilitation training for stroke patients through design, and to enhance the rehabilitation effect and training experience of patients. The knee joint angle and comfort level of the patients were measured accurately with a digital ruler, and the lower limb joint force and the overall comfort level of the patients in sitting positions were analyzed in detail in combination with Jack simulation software. Through the experimental data, the optimal knee joint movement angle interval and the size design of the exoskeleton robot were determined to achieve individualized adaptation. When the knee motion angle interval was between 0° and 30°, the patients' L4/L5 spinal compression force was lower than the standard value of 3 400 N, the torso bending and shear force was lower than 400 N, and the training posture level score was grade 1, which indicated that the patient felt the most comfortable when performing seated lower limb rehabilitation training in this angle range. The experimental measurements are highly consistent with the analysis results of Jack simulation software, confirming the effectiveness of combining ergonomic principles and virtual simulation technology in determining the optimal motion angle of the knee joint of exoskeleton robots. This study not only provides a scientific basis for the design of exoskeleton robots for lower limb rehabilitation, but also provides effective data support for the comfort design of rehabilitation training products, which will help develop more humanized and efficient rehabilitation equipment in the future.

Key words

ergonomics / lower limb rehabilitation / exoskeleton robots / Jack simulation / comfort

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SUN Xufang, LIU Cankui, HU Qianwen, FU Xiaoli, GUO Menghao, MA Ningning. Human-machine Comfort Optimization Study of Knee Joint with Lower Limb Rehabilitation Exoskeleton Robot[J]. Packaging Engineering. 2025, 46(22): 24-35 https://doi.org/10.19554/j.cnki.1001-3563.2025.22.004

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