Research On Structure And Control Method Of Hybrid Walking Aid Robot Of Foot Walking System And Wheel System

With the increase of age,the physical functions of the elderly deteriorate,and the muscle strength of each limb decreases significantly.The decline of the muscle strength of the lower limbs will result in insufficient torque of the knee joint,making it difficult for people to stand and exercise.Because standing exercise requires greater knee torque than walking exercise,most elderly people have the ability to walk but have difficulty standing.Walking exercise is an important form for the elderly to maintain their health.In order to meet the needs of the elderly for outdoor walking and reduce the burden on the family,this thesis proposes a hybrid walking aid robot of foot walking system and wheel system.The main research contents of the thesis are:1.Propose a hybrid robot with a seat-stand posture conversion structure,a foot walking system,a wheel system,and a posture conversion mechanism and a foot walking system on top of the wheel system.Based on ergonomics as the theoretical support,combined with the human posture transformation collected by the Vicon system and the motion parameters of the human walking process,the detailed analysis and design of the configuration of the hybrid walking aid robot is completed;Active walking movement and passive walking movement,and the coordinated movement of the casters and the speed ratio are adjustable.Using Solid Works to intervene and check the walking movement of the person on the walking robot,the rationality of the structure size of the walking robot was verified.2.Research on passive walking aid: Analyze the walking data of normal people,according to the predefined parameters of the walking robots,realize the foot walking system to simulate the walking trajectory of the human foot or ankle joints,and drive the lower limbs of people with walking difficulties Movement;the wheel system can coordinate the movement with the foot walking system to drive the human body to move smoothly on the horizontal ground.3.Research on active walking aid: According to the structural characteristics of the foot walking system and the characteristics of human walking movement,the control methods of the foot walking system and the wheel system are studied to make the swing phase side foot walking system follow the swing phase foot motion,The supporting phase side walking system drives the supporting phase foot backward,and at the same time ensures the coordinated movement of the wheel system and the walking system.4.Analyze the kinematics of the walking system of people walking passively through ADAMS.Through the ADAMS?Simulink joint simulation,the motion control simulation of the foot walking system when the person is actively walking is carried out,and the feasibility of the active walking motion control method of the foot walking system is verified.