Design And Research Of A Wearable Lower Limb Rehabilitation Robot

Hemiplegia and stroke cause dyskinesia of the lower limbs of the human body has always been a major problem in the medical field,and the lower limb rehabilitation robot,as a medical device for patients with lower limb paralysis or disability,plays an indispensable role in the treatment process,especially based on Standing rehabilitation robots have attracted much attention because they make the form of rehabilitation closer to the daily activities of the human body.In order to solve the problem that most of the existing lower limb rehabilitation robots based on standing posture can only recover in the sagittal plane,a wearable lower limb rehabilitation robot whose movement is not restricted by the plane is designed.According to human anatomy,the motion forms of the hip,knee,and ankle joints and their range of motion are analyzed,laying a foundation for the size design of the subsequent prototype;based on the spiral theory,synthesizing the parallel mechanism with three translational motion characteristics,and deriving one A series of single-plane symmetrical parallel mechanisms;then combined with rehabilitation to analyze the four configurations,and finally select the best to determine the 3-PRPR as the rehabilitation executive mechanism,and give the principle of using this mechanism for rehabilitation.After establishing the mathematical model of the rehabilitation actuator,the kinematics analysis was carried out,and the positive and negative kinematics solutions of the mechanism were obtained;and the positive and negative solutions of the rehabilitation actuator were verified by both single-point and continuous motion methods;Regarding the drive as a linear function and derivation of the inverse solution,respectively,the forward and inverse first-order influence coefficients of the mechanism are solved;taking into account the safety of human rehabilitation and the limiting factors of branch motion,the forward solution is given based on the kinematics of the rehabilitation actuator Out of its working space.Newton-Euler method was used to establish the dynamic model of the rehabilitation actuator,and the supplementary coordination deformation equation was listed for the static indeterminate problem of the mechanism;based on the Adams/Simulink co-simulation technology,the kinematics positive and negative solution simulation module was established;Various forms of rehabilitation have carried out trajectory planning for rehabilitation institutions,including gait planning,which verifies the feasibility of the institution as an executive agency for lower limb rehabilitation.The overall mechanical structure of the rehabilitation robot and the local mechanical structure of the ankle joint were designed in detail;the mechanical parameters of the rehabilitation actuator were given,and its rationality was analyzed;the prototype model of the lower limb rehabilitation robot was built,and its hardware control system was designed;Various forms of lower extremity rehabilitation exercise experiments have been carried out,verifying that the lower extremity rehabilitation robot has the performance of various forms of rehabilitation.