| This study discusses lower extremity rehabilitative robot. The lower extremity rehabilitative robot is a typical man-machine integrated system; it is worn on the body of a limb to help patients with physical disabilities rehabilitation of mechanical devices. In this paper, man-machine compatibility has done more analysis and with well wearing this equipment to rely on the human body configuration under the control of lower extremity rehabilitative robot motion information. It improves the consistency of human gait in the course of the campaign to achieve better rehabilitation purposes.This paper analyzes the research situation and has a research about the background of relevant research at home and abroad, progress of research and future development. Lower extremity rehabilitation robot research summarized the problems still exist, and then this article determines the main contents, and the key issues need to be resolved. With the research data of body Kinematics and the prosthesis, this paper analyzes the human trajectory, especially on the knee joint trajectory of instantaneous center, and establishes a trajectory model which is similar to the normal human lower limb bones. it is better Simulation of the human lower extremity movement.This paper has identified the DOF of lower extremity rehabilitative robot and the joint distribution of digital agencies. Through the analysis in freedom this article do the research on the human - machine connection mode and the nature binding. Two programs of mechanism are proposed based on the bone - body conjoined model. The study defines the compatibility of human– machine and analyzes the compatibility factors of human - machine. On this basis, the human skeleton model and the configuration of the two agencies are conducted by the three-dimensional model design respectively.The human leg and organization model are completed by the software interface on the settings of simulation environment of the wear model. By ADAMS simulation software, the two configurations are analyzed and compared, then optimized for wear on the location. On this basis, the man - machine compatibility factors parameters are changed. The Human - Machine Sports attitudes are got from different parameters and the regular summary. Finally, drawing two-dimensional drawings of the better configuration and got the prototype. |
