Design And Study On A Parallel Hip Joint Rehabilitation Robot With Adjustable Center Of Rotation

In view of the fact that patients with hip joint injury gradually lose the ability of joint movement by missing the best time for effective rehabilitation training,this paper has proposed a parallel hip joint rehabilitation robot with adjustable center of rotation.It has the function of helping patients with hip joint injuries to undergo rehabilitation training.According to the analysis of actual motion state of the hip joint based on human hip anatomy and the hip rehabilitation training requirement,the 3-RRR parallel mechanism was established as the initial prototype of the hip joint rehabilitation mechanism.Finally,a design scheme about structure of a parallel hip rehabilitation robot including two postures was proposed according to human parameters.According to the D-H parameter method,the inverse solution of the unilateral structure of the hip joint rehabilitation robot is derivation,and the working space is obtained by using the inverse search solution method.Based on the inverse solution,the first-order motion influencing coefficient is obtained,and then the singular working space is obtained.Based on the principle of virtual work,a dynamic model of the hip joint rehabilitation robot was obtained and three typical rehabilitation training methods were propose to meet the requirements of rehabilitation training.The simulation model of the structure was established by using the dynamic analysis software and matrix analysis software.The calculation results of three kinds of motion examples of the dynamic model are consistent with the results of the simulation,which verifies the correctness of the dynamic model.According to the design of the hip rehabilitation robot in this paper,a small-scale prototype model and an actual proportional prototype model are manufactured.For small-scale prototype model,three typical hip joint motion experiments were performed through the hardware setup of the control system and the development of the rehabilitation interface,which verified the accuracy of the hip rehabilitation robot in helping patients to perform rehabilitation training.For the prototype model of the actual proportional prototype,through the hardware structure and software programming,rehabilitation exercises for hip joints guided by EMG signal and brain waves are conducted respectively,verifying that the hip rehabilitation robot can do rehabilitation training based on the patient's wishes.