Multifunctional Lower Limb Rehabilitation System Based On Sensing Information

Nowadays,the cold wave of global aging and the occurrence of various natural disasters and accidents have resulted in an increasing number of people with lower limb movement disorders.The traditional rehabilitation treatment methods are somewhat inadequate in the face of such a large population base,so rehabilitation robots emerge as the times require.However,most of the existing lower limb rehabilitation robots only have a single training mode,and the training process is relatively rigid and boring,which makes it impossible to achieve active speed regulation in motion;And often only consider the needs of patients for rehabilitation exercise,ignoring the indispensable life care needs in the rehabilitation process.Based on the analysis of the deficiencies in the current lower limb rehabilitation research,this paper has developed a multi-functional lower limb rehabilitation system based on sensor information.The main work includes the following aspects:Based on the rehabilitation training needs and rehabilitation nursing needs of patients with lower limb movement disorders,this paper developed a chair type lower limb rehabilitation robot and an electric rehabilitation nursing bed.According to the structure of human lower limb,a lower limb mechanical leg with three degrees of freedom is designed and manufactured.Following the modular design criteria,the physical construction of the mechanical structure of each unit is completed respectively.Based on the motion requirements of the lower limb mechanical leg,the software and hardware design of the lower limb rehabilitation robot control system is completed.A variety of sensing devices were used to study the human lower limbs in the riding state.The pressure sensor is used to collect the change trend of plantar pressure during cycling,which provides a theoretical reference value for the plantar pressure speed regulation mechanism;Aiming at the limitation that the existing lower limb rehabilitation training robots can not realize active speed regulation,the plantar pressure speed regulation system is developed.With the change of plantar pressure in the riding mode as the trigger signal,the pressure change is combined with the change of lower limb mechanical leg movement speed,which successfully realizes the active speed regulation of equipment operation by changing the plantar pressure during rehabilitation;The Azure Kinect device and high-speed camera were used to collect the changes of the lower limb joint angle when the patient sat on the lower limb rehabilitation robot to simulate the riding movement under the real riding state.Through the comparison between the actual curve and the theoretical expected curve,the rationality and feasibility of the mechanical structure and motion mode design of the chair type lower limb rehabilitation robot were proved.An electric rehabilitation nursing bed has been developed,and the overall structural design of the nursing bed has been completed;According to the functional requirements and parameter requirements,appropriate materials and hardware control facilities were selected to complete the overall construction of the nursing bed a nd design the control program to complete the back lifting and leg flexion functions;The kinematics simulation of the motion module of the nursing bed was carried out,and finally the human-computer interaction was verified,which proved the feasibility of the coordinated work of the motion mechanism of the rehabilitation nursing bed.