Development of wearable lower limb rehabilitation system composed of passive elements

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In this study, to establish the rehabilitation environment where the patient with heavy disorder on the lower limbs can perform the common activities of daily life by himself without support from the caregiver, we tried to develop some new wearable rehabilitation devices wholly composed of the passive elements such as springs and dampers. At first, we constructed a wearable gravity compensation device which can generate the large assistant forces to compensate the weight of patients in arbitrary posture and a new mechanical system which can generate the desired impedance characteristic around the hip to stabilize the standing posture. In addition, by introducing the rubber based new gravity compensation mechanisms to reduce the size and weight of devices, a walking support system which compensate the weight of patients and the wheel chair which makes the change of the seating height easy by supporting the weight of patients were developed.