The LegoPress: A Rehabilitation, Performance Assessment and Training Device Mechanical Design and Control

In this paper we present the LegoPress, a simple and cost-effective robotic device intended to be used for leg-press movements in rehabilitation and training. Basic adjustments can be done on the sitting position so as to maximize comfort and adapt the posture of the user depending on the desired training. The LegoPress has two motorized axes independently acting on the two legs. By means of force sensors positioned at the pedal level, a precise monitoring is possible. The force sensor is as well used to improve the impedance control, which enables to reproduce various behaviors. The device is not only able to mobilize the user's legs but also to interact with her/him.