Design And Experiment Research On Pneumatic Assistant Mechanical Leg

With the development of the society and the improvement of the living standards, there are more and more demands for safety, comfort, flexibility for lower limb assistance device during rehabilitation training. The lower limb assistance device which can assist walking and help rehabilitation training, has become one of the focus of robot research around the world. The research of it is of great significance.The pneumatic assistance mechanical leg is designed for those who have disability in their lower limbs. It can help to actuate the hip joint and knee joint during gait rehabilitation training and to achieve the goal of normal waking.First, the gait characteristics and the lower limb rehabilitation are analyzed. Then, the basic structure of the pneumatic assistance leg mechanism is proposed. After analysis of the dynamics and kinematics, the model of the mechanism is established. Using the Matlab/Simulink software, simulation of the mechanism is carried, and the foot trajectories for different gait are got.According to the principle of the pneumatic muscle, a more reliable and cheaper pneumatic muscle is designed and fabricated. Basic characteristics of the made pneumatic muscle are tested, and the simple model of the pneumatic muscle is got based on the experiment data.The parameters of the mechanism are analyzed and optimized, and the pneumatic assistance mechanical leg is designed. Finally, open loop experiment is carried. Experiment results shows that this design achieved the goal of the research.