Design of a trajectory generator for a lower-limbs rehabilitation device

This paper deals with the design of a trajectory generator for Sys-Reeduc, a lower-limb rehabilitation device in Closed Muscular Chain (CMC). The goal is to generate, from the measurement of the patient's voluntary efforts applied to the device, the trajectories to be tracked by the rehabilitation device with accordance to usual rehabilitation protocols such as isokinetic, isometric or isotonic movements. Therefore, rehabilitation trajectories are split into elementary movements (static, isokinetic extension, etc.) which are then combined through discrete states machines and activated from convenient thresholds crossings of the user's efforts. This allows the user to drive the device at his own initiative and make safe the release of rehabilitation protocols on such apparatus.