Overall Mechanical Structure Design And Movement Analysis Of Lower Limb-walking Training Robot For Rehabilitation

With the development of science and technology and the improvement of people's living standard,the problem of aging population becomes a key topic which is urgently needed to solve.rehabilitation medical come out at the historic moment,it is attented by people day by day.It is of utmost to correct and restore damaged body as the final purpose.Loss weight gait training is the main rehabilitation method to cure the impaired patients caused by stroke or traffice accident.It's curative effect has been confirmed in domestic and foreign rehabilitation medicine. But currently,as weight loss in training needs to be completed under the help of too many physiotherapy.We can improve the working intensity and slow the recovery effect.restricted the weight loss of further development of rehabilitation training. This paper developed walking robot, lower extremities of rehabilitation training in the existing weight loss is the basis of gait rehabilitation training, the treadmill coordinates, through simulate normal gait robot and helping patients according to normal gait walking, so as to constantly stimulate the patient's brain central nervous, achieve the purpose of walking rehabilitation.Based on the gait rehabilitation training curent development situation, the robot based on rehabilitation medicine theory, determined the rehabilitation training robots walking the overall schemed design, respectively explains walking robot weight loss of rehabilitation training support systems, center of gravity regulation system, ladders-crawling leg of mechanical structure design and pneumatic system design, walking robot control system to recover the MATLAB simulation analysis. According to the general plan, each parts and standard components on the selection and installation designed a walking robot prototype of rehabilitation training and built the whole experiment platform. And in particular reducing weight, the treadmill speed, whether feedback or not etc, we did a comparative experiments for the weight loss support system characteristics , identify the best minus gravity, running machine speed parameters. Made SCM system with group members and done the experiments of combination of single joints and double joint tracking. Through the experiment, we proved the feasibility of rehabilitation robots, It is a foundation for further optimizing and improving the system function of walking robot prototype. Finally,It was discussed for debugging the robot prototype system and optimizing the function of further expansion and clinical effect of experimental rehabilitation work.