Design And Analysis Of Lower Limb Rehabilitation Robot Based On Industrial Design Concept

The introduction of industrial design method in the research and development of rehabilitation robot to improve the interaction and functionality of robot is an important means to improve robot rehabilitation service.Combining the industrial design method with robot technology,this paper proposed a lower limb rehabilitation robot for the rehabilitation needs of patients in the early stage after the stroke surgery.The main research contents are as follows:Firstly,aiming at the environmental needs for the lower limb rehabilitation of stroke patients,this thesis constructed a rehabilitation robot design method to meet the lower limb rehabilitation training function,conducted user scenario analysis by combining the etiological mechanism of lower limb dysfunction and used the object-field analysis method and standard solutions method to clarify the design direction and the concept elements of the mechanism.On the basis,the carrying adaptability,site versatility,operation safety,training comfort,and technical sustainability in the design of the robot mechanism were analyzed and the robot design requirements were proposed that was compatible with the human joint motion mechanism and met the needs of lower limb rehabilitation service needs.Secondly,combining robotics technology with humanized design concepts,the thesis proposed the lower limb rehabilitation robot design method and the operating control interface design method and procedure that met the clinical needs of patients.The three-level emotional analysis method was proposed to enhance user experience of use and operation,making up for the mental and emotional deficiencies in rehabilitation operations.A rehabilitation robot weight evaluation method was proposed to evaluate a large number of morphological schemes.And the appearance design of the rehabilitation robot was carried out based on the optimal scheme to achieve the unity of appearance and function,form and experience design.Using the conversion relationship between short-term memory and long-term memory,the information architecture and operation page flow that conforms to the human-machine self-learning interaction logic was constructed.The human-computer interaction interface was designed that meets the differences in thinking between medical staff and patients,thereby improving the quality of intelligent services for rehabilitation robots.Thirdly,in accordance with the needs of clinical service functions,a single-leg multi-joint robot virtual prototype with adjustable leg lengths was designed that met the early postoperative period of stroke patients and adapted to patients sitting at different heights.A robot kinematics model was established and the motion performance of the mechanical leg was analyzed.The position,working space,speed,acceleration of the mechanical leg end were solved using the functional relationship between the joint angles and the end posture parameters.The polynomial interpolation method was used to analyze the joint motions of the rehabilitation robot under variable working space in the sagittal plane,and the trajectory planning of the sagittal linear motion and circular motion based on the continuous passive training principle was carried out.Fourthly,the Lagrange method was used to establish the robot dynamics model,and the mapping relationship between the torque,joint speed,acceleration and other variables of each joint of the mechanical leg was obtained.According to the needs of clinical training in rehabilitation medicine,the passive control strategy based on the robot position information and the active control strategy based on the sand model were proposed.Based on various physiological information of patients,the artificial bee colony algorithm was used to optimize the parameters of the support vector machine,and the patient fatigue prediction model was established,and then the patient active participation in the rehabilitation training was evaluated,which provided a basis for formulating the patient active rehabilitation training control strategy.Fifthly,a single-legged lower limb rehabilitation robot experimental platform was built,the robot control system was designed and the joint reset accuracy verification experiments were performed.the tracking experiments on the end trajectories of linear motion and circular motion were also performed to verify the smoothness and stability of the robot operation.The human factor experiments on the shape and control interface of the rehabilitation robot were conducted to verify the aesthetic and emotional bias of the user in the rehabilitation environment.And the clinical application of the robot user interface was evaluated to verify that the robot could be used for the lower limb rehabilitation training service in the acute phase after stroke.The patient fatigue experiments were carried out to verify the accuracy of the human body fatigue prediction model.Through the integration of TRIZ theory,design psychology and other methods,humanized design concepts in the field of industrial design were implanted in the design of rehabilitation robots and the mechanical design,form and function design and human-computer interaction design of the robot were carried out,which could improve effectively the product value of lower limb rehabilitation robot,shorten the research and development cycle.This thesis could provide a technical path for the development of humanized and intelligent lower limb rehabilitation robot,and expand and optimize the design method of rehabilitation robot.