Rehap: A lower limb rehabilitation system for adults


  • José G. Benítez-Morales
  • Ángel Ricardo Licona
  • Ma. Angeles Alamilla
  • Ma. Angeles Alamilla
  • Javier Hernández
  • Javier Hernández


Rehabilitation, Passive, Biomechanics, Knee


During passive rehabilitation, the medical therapist performs specific routines on the patient's limbs who have suffered physiological damage and has partial lost or total mobility and muscle strength. Currently, there are commercial devices of manual nature that assist the doctor during the application of routines. However, the majority are closed kinematic chain which limits the number of angles that can be reached. In this article, it is detailed the design and development of an electro-mechanical system for an autonomous passive lower extremity rehabilitator. The mechanical system is developed considering the knee's biomechanics, the change in length of the limb during flexion and extension, and the anthropometry of the patients to be treated. The system is actuated by electromechanical elements to avoid costly pneumatic systems or hydraulic networks. The scheming and development of the transmission system for the electromotive actuator selection are also detailed in its corresponding section.




How to Cite

Benítez-Morales, J. G., Licona, Ángel R. ., Alamilla, M. A., Alamilla, M. A., Hernández, J., & Hernández, J. (2022). Rehap: A lower limb rehabilitation system for adults. International Journal of Combinatorial Optimization Problems and Informatics, 13(4), 58–72. Retrieved from




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