Power-free knee rehabilitation robot for home-based isokinetic training

Yanggang Feng (), Haoyang Wu, Jiaxin Ren, Wuxiang Zhang (), Xiu Jia, Xiuhua Liu, Xingyu Hu, Haoxiang Jing, Yuebing Li, Yuhang Zhao, Ziyan Wang, Xuzhou Lang, Junjia Xu, Yixin Shao, Qi Su, Yuanmingfei Zhang, Mouwang Zhou, Ke Liu, Yong Nie, Jian Wang, Fuzhen Yuan, Liu Wang () and Xilun Ding ()
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Yanggang Feng: Beihang University
Haoyang Wu: Beihang University
Jiaxin Ren: Beihang University
Wuxiang Zhang: Beihang University
Xiu Jia: University of Science and Technology of China
Xiuhua Liu: Intelligent Science & Technology Academy Limited of CASIC
Xingyu Hu: Beihang University
Haoxiang Jing: Beihang University
Yuebing Li: Beihang University
Yuhang Zhao: Beihang University
Ziyan Wang: Beihang University
Xuzhou Lang: Beihang University
Junjia Xu: Beihang University
Yixin Shao: Beihang University
Qi Su: Shanghai Jiao Tong University
Yuanmingfei Zhang: Peking University Third Hospital
Mouwang Zhou: Peking University Third Hospital
Ke Liu: Peking University
Yong Nie: Sichuan University
Jian Wang: Peking University Third Hospital
Fuzhen Yuan: Peking University Third Hospital
Liu Wang: University of Science and Technology of China
Xilun Ding: Beihang University

Nature Communications, 2025, vol. 16, issue 1, 1-13

Abstract: Abstract Robot-assisted isokinetic training has been widely adopted for knee rehabilitation. However, existing rehabilitation facilities are often heavy, bulky, and extremely energy-consuming, which limits the rehabilitation opportunities only at designated hospitals. In this study, we introduce a highly integrated and lightweight (52 kg) knee rehabilitation robot that can provide home-based isokinetic training without external power. By integrating a motor, torque/angle sensors, control circuit, and energy regeneration circuit into a single driver module, our robot can provide power-free isokinetic training by recycling mechanical work from the trainee. Ten postsurgical subjects were involved in an interventional randomized trial (ChiCTR2300076715, Part I) and the cross-sectional area of trained legs (experimental group) was significantly higher than that of untrained legs (control group). The primary outcomes, muscle growth (quadriceps: 5.93%, hamstrings: 10.27%) and strength improvements (quadriceps: 70%, hamstrings: 84%), achieved with our robots surpass those of existing commercial rehabilitation devices. These findings indicate that our robot presents a viable option for home-based knee rehabilitation, significantly enhancing the accessibility of effective treatment.

Date: 2025
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DOI: 10.1038/s41467-025-57578-z

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