This paper develops a wearable walk rehabilitation device for hemiplegic legs with facilitative vibration stimulus and power assistance, based on Repetitive Facilitation Exercise, an effective rehabilitation method that can potentially manifest the brain plasticity, which can realize rehabilitation that incorporates facilitated vibration stimulus and active power assist for hemiplegic legs. In this research, hip and knee joints power assist mechanism, 3-DOF hip joint and 1-DOF knee joint rotation adaptation mechanisms to the joint rotation of the human body, mechanism corresponding to the individual differences in body shape, and mechanism to prevent side-overturning preventing mechanism are proposed. The designed prototype of the device, then the effectiveness of this device are shown from some verification experiments.
