Design And Analysis Of A Multi Position Rehabilitation Robot With Body Coordination

Owing to the imbalanced and inadequate medical development in China,there are many patients who are in urgent need of rehabilitative treatment.The traditional artificial rehabilitation therapy has low efficiency and poor accuracy,and the existing rehabilitation robot has a single position,and it is difficult to carry out the precise trajectory planning and so on.Based on the theory of rehabilitation medicine,the characteristics of human biology and the technology of robot,a multi posture and limb coordination rehabilitation robot is developed according to the training requirements for different positions,different ranges and different trajectories at different rehabilitation periods,.The main contents of the work are as follows:First,based on the biological characteristics of human body,the activity space under different postures of human body is discussed,which provides theoretical support for the design of rehabilitation institutions.Three-dimensional models of a hybrid driven upper limb training mechanism,a multi degree of freedom lower limb training mechanism and a position adjustment mechanism are established by using UG.The structure of the control system of the rehabilitation robot and the human-computer interaction interface are designed by LabVIEW.Second,the model of the man-machine system is simplified,the corresponding mathematical model is established,and the positive and inverse kinematic analysis of the mathematical model are carried out.Based on the Chinese adult body parameter standard,the comprehensive analysis of the main components of the rehabilitation robot is carried out.According to the size analysis results,the workspace of the rehabilitation robot is discussed,so as to provide a contrast basis for the subsequent physical prototype experiment.The characteristics and application of different training modes are analyzed,and the principle of its realization provides reference for the use of patients.Then,the body coordination movement and the law of human gait are explored and analyzed,and the training trajectory is planned under different training forms.The trajectory of the planning is simulated by MatLab,and the performance of the trajectory planning of the rehabilitation robot is verified by the analysis of the simulation results.Finally,the physical prototype of rehabilitative robot is made and related experimental analysis is carried out,including the experiment of upper limb's different motion trajectory,multi position experiment of lower limbs,and the coordination experiment of upper and lower limbs.The rationality of the design of the rehabilitation robot and the effectiveness of the rehabilitative effect are verified by data collected from various sensors including trajectory,joint angle,electromyography and plantar pressure.