Design And Research Of2-DOF Nine Connecting Bar Lower Limb Rehabilitation Training Mechanism

2-DOF nine connecting bar lower limb（hip, knee, ankle）rehabilitation mechanism aremainly used for walking problems due to a fall caused by the treatment of leg movementrehabilitation after rehabilitation period. Previous rehabilitation is doctor artificial method thatpay greater physical health care, poor outcome of patient rehabilitation, greater impact ofhuman factors. Rehabilitation aid training mechanisms can eliminate human factors, provide amore stable health care, in favor of stable care of early rehabilitation, more conducive toprevent muscle degeneration or resume poor normal walking which caused abnormalities gait,and there are plans to provide a stable rehabilitation for the patient. Rehabilitation centers oflarge hospital could install such rehabilitation aid training mechanisms, qualified families canalso install this automation equipment, they have a very big market and great value.This paper focuses on configuration design of the lower limb rehabilitation mechanism,study its reasonable of the structure, and solve the problem of kinematic analysis andsimulation analysis in detail. The first chapter reviewed foreign advanced rehabilitationmedical mechanism, and compared with domestic medical mechanisms, indicating that thedevelopment of domestic medical rehabilitation mechanism is slow. On the fact that lowerlimb rehabilitation mechanisms are divided into traction, exoskeleton and foot plate threetypes, on the basis of the need analysis of patient medical rehabilitation and recovery ofnormal movement, we need strict to follow the normal rules of human walking, so design atwo degree of freedom nine connecting bar hip, knee, ankle rehabilitation mechanism. Thekey component of the mechanism is six crank and crank rocker slide mechanism, two driverswork together with rocker terminal, which outputs form a normal human walking motion, andultimately meet the need of the human lower limb rehabilitation. Lower limb rehabilitationtraining mechanism is a two degree of freedom nine connecting bar mechanism, which shouldbe carried forward and inverse kinematics analysis, establish the mathematical model of the mechanism, and verify the reasonableness of the mechanism during three～dimensionalmodeling and simulation analysis, this paper’s basic research on rehabilitation trainingmechanism provides further study for lower limb rehabilitation mechanism.In accordance with angle parameter size of normal human walking in the hip, knee, ankleand with lower limb movement parameters, the paper designed two degrees of freedomnine～link of the hip, knee, ankle three～dimensional model of rehabilitation mechanism.Setting the appropriate speed and suitable initial phase of the crank, you can get elliptictrajectory of the pedals. As walking trajectory is different for different patients, themechanism can adjust the speed, adjust initial phase of the crank, meet the requirements ofdifferent patients, and also in line with the movement of walking motion of each joint oflower limb, which meet the requirements of lower limb rehabilitation training.