Design And Control Of Weight-support Assistance Robot For Rehabilitation Training Of Sit-to-stand

The increase in population of elderly results in the increase in population of the lower limb dysfunctional people.Physical rehabilitation training is important to the paints using rehabilitation of medical equipment in addition to clinical medication.The study of weight-support assistance sit-to-stand(STS)rehabilitation robots based on the human dynamic models is conducive to providing better service to the patients with the technology development.(1)The kinematics analysis of the human body from the sitting station movement was made,and the kinematics model of the human body which consisted of three rigid body was established,and the shoulder point movement trajectory of the healthy person during the station movement was analyzed.Based on the motion parameters measured by inertial sensor and high speed camera,the trajectory of shoulder points in normal healthy stations is analyzed.(2)In order to solve the problem of auxiliary training for the patients with movement dysfunction of the lower extremities,it is necessary to ensure that the patient can stand up to the kinematic characteristics of the healthy body during the training process of the station,and design a mechanical structure of the rehabilitation training robot for the weight reduction auxiliary station.The structure of the weight reduction robot is analyzed and optimized by finite element method.(3)A set of control system and mechanical feedback system which is matched with the designed structure of the weight-reducing assistance station robot are studied.According to the method of reducing weight of the robot in the assistance patient station,the corresponding hardware is built for the control system and the software system is researched and matched,the motion control card and data acquisition card are programmed by LabVIEW programming,finally the software and hardware are debugged.(4)The simple device of the weight-reducing assistance station-lifting robot system is preliminarily built and the preliminary experiment is validated and analyzed.By comparing the changes of plantar pressure of the same person at normal station and at the assistance station of the robot,the weight-reducing effect of the robot system in the assistance body was validated.At the same time,the experiment proves that the control method of the system needs to be further improved in the subsequent research.