A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Joint</td><td class="align_center">Transmission ratio</td><td class="align_center">Continuous torque (N·m)</td><td class="align_center">Reflected motor inertia <svg height="14.9752pt" id="M2" style="vertical-align:-3.3838pt" version="1.1" viewbox="-0.0498162 -11.5914 46.3497 14.9752" width="46.3497pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M513 0V26C475 28 448 43 413 81C379 116 277 234 258 264C301 314 319 334 344 359C383 396 404 407 473 418V443L269 434V408C317 403 320 395 299 364C280 337 250 298 228 276C213 260 195 247 165 241V712C126 699 69 682 21 677V653C82 648 87 642 87 576V104C87 40 81 32 14 26V0H237V26C173 32 165 38 165 104V215C171 217 176 218 181 218C189 218 198 212 212 196C267 129 330 49 376 -2L513 0Z" id="g121-105"></path></g><g transform="matrix(.013,0,0,-0.013,11.168,0)"><path d="M463 437C426 431 375 425 327 422C297 440 264 449 231 449H230C153 449 51 396 51 283C51 215 94 168 139 149C123 129 91 103 51 88C50 78 53 60 62 46C75 25 100 2 136 -9C112 -28 73 -59 53 -79C38 -94 29 -113 29 -135C30 -192 91 -257 203 -257C336 -257 452 -160 452 -59C452 39 371 59 309 59C275 59 240 58 203 58C158 58 140 77 140 96C140 110 157 129 170 138C186 135 205 133 221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z" id="g121-101"></path></g><g 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class="align_center">15 : 1</td><td class="align_center">9.56</td><td class="align_center"><span style="width: 58.3896ptpx;"><svg height="11.9413pt" id="M5" style="vertical-align:-0.3499002pt" version="1.1" viewbox="-0.0498162 -11.5914 58.3896 11.9413" width="58.3896pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M456 178V225H360V632H320C217 496 115 347 20 206V178H280V106C280 40 276 34 189 27V0H445V27C364 34 360 39 360 106V178H456ZM280 225H82C149 335 214 431 278 520H280V225Z" id="g113-53"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path></g><g transform="matrix(.013,0,0,-0.013,9.204,0)"><path d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 521 368 635 244 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colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Specifications of the robot joints.</div>

Journal of Healthcare Engineering

tab4

Table 4

Table 4: A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities 