Research On Lower Limbs Rehabilitation Flexible Joints Robot

Clinical medical theories and patients with the practice of rehabilitation training experience shows that not only early surgical treatment and the medical treatment is necessary for traffic accident caused by lower limbs of minor damage and stroke of diseases such as lower limbs motion obstacle of patients, but rehabilitation training is also playing a significant role for physical functions rehabilitation. In order to strengthen the efficiency of patients with rehabilitation training, shorten the rehabilitation time and improve their rehabilitation training process of safety and comfort, and designed a paragraph of rehabilitation flexible joints robot system. Its main function is to provide the patients with the aid of a reliable walk rehabilitation training device for patients with intelligent rehabilitation, ensure patients freedom movement.First, walk through the body's lower limbs of biological characteristics, in the lower extremities, walk of dynamics analysis, obtained normal gait walk curve. Though the ankle and knee torque parameter optimization, which according to the principle of personification designed a flexible joints robot mechanical structure experiment prototype. Using 3d parametric Pro/E software dynamics simulation and the simulation results verify the feasibility of mechanical structure.Then, use the LabVIEW software developers, apply pressure sensor for normal foot balance testing. At the same time, adopting the combination of potentiometers and amplifier and applying wireless data collection technology, in the lower extremities ankle and knee on joint Angle, joint Angle acceleration of the collection, for follow-up control strategy research provides a necessary data.Finally, based on the traditional rehabilitation robots recovery strategy contrast, design a kind of has compensation of three closed PID control method, a control method of three closed-loop PID was proposed. It can be good to reduce outside interference system, the influence of system output quite right to on system input, horse error in rehabilitation training requirements within the permitted, greatly improving the flexible joints robot rehabilitation system with sex and robust stability.