Then, the mobility of the HE-LRR was calculated and the motion property was analyzed based on screw theory. The usage of (2-UPS + U)&(R + RPS)&(2-RR) hybrid mechanism and a mirror motion actuator had the advantages of compact structure, large working space and short wearing time to the HE-LRR. Aiming to solve the problems, first, a novel hybrid end-traction lower-limb rehabilitation robot (HE-LRR) was designed as the lower-limb rehabilitation requirement of patients in the acute stage, in this paper. LSTM has better synergy modeling and shows a promise for generating trajectories in line with the wearer's motion for lower limb assistive devices.Ĭonventional lower-limb rehabilitation robots cannot provide in-time rehabilitation training for stroke patients in the acute stage due to their large size and mass as well as their complex wearing process. In conclusion, stroke patients and amputees perform different compensatory mechanisms to adapt to new interlimb and intralimb synergies different from healthy people. Further, in intralimb synergy modeling, LSTM (RMSE: 3.894°) enables better synergy modeling than PCA (RMSE: 10.312°). In interlimb synergy modeling, LSTM (RMSE: 0.798° (hip) and 1.963° (knee)) has lower errors than PCA (RMSE: 5.050° (hip) and 10.353° (knee)), which is frequently used in the literature. The results indicate that the limited hip and knee range of motions (RoMs) in stroke patients and amputees significantly influence their synergies in different ways. Second, long short-term memory (LSTM) and principal component analysis (PCA) were adopted to model interlimb synergy and intralimb synergy, respectively. First, continuous relative phase (CRP) was used to quantify their synergies and explore the influence of kinematics.

To this end, gait data from healthy, amputee, and stroke subjects were collected. A better understanding of the influence of gait kinematics on synergies and a better synergy-modeling method are important for device design and improvement. The concept of synergy has drawn attention and been applied to lower limb assistive devices such as exoskeletons and prostheses for improving human-machine interaction.

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