Research On The Horizontal Lower Limbs Rehabilitative Robot

Rehabilitative robot technology is a new one that has been developed rapidly in recent years, which represents the applications of robots in the medical field. Horizontal limbs rehabilitative robot is one of this kind of robots. It can simulate the motion of normal human's laying gesture and give the patients healing training which will help them to recover from illness. The main research of this paper includes the structure design, mechanism simulation, control system design and experiment research.The paper at first systematically overviews the developing and application situation of rehabilitative robots, and puts forward the overall structure scheme for horizontal lower limbs rehabilitative robot. And then the main motion mechanism and gesture mechanism of the robot are modeled and simulated by applying mechanism simulation tool SimMechanics and Simulink basic block sets of MATLAB, and the mechanism parameters are determined for adapting to the normal bending or extending leg when being on his back. The simulation results provide the theory basis and parameters required for implementing the robot control.According to the results of simulation analysis lower limbs rehabilitative robot is developed and the actuation control circuit of main motion motor, the serial communication circuit, and the encoder interface circuit etc are designed. The control software based on the AVR assembly language is built. The control scheme of gesture mechanism is given. At the end of this paper the experiment situations of the lower limbs rehabilitative robot is introduced. The experiment prototype of the lower limbs rehabilitative robot is developed. The experiments are carried out, which include the software and hardware debugging of single-chip microcomputer control system, encoder signals collecting, load capability testing and communicating between single-chip microcomputer and PC computer and so on. The experiment results prove that horizontal lower limbs rehabilitative robot meets design requirements.