Research On The Wearable Lower Limbs Rehabilitative Robot

Rehabilitative robot technology, a newly-developed technique in recent years, is a new application in medical fields. It has made great achievement within several decades of development. The overseas rehabilitative robot research is quite developed. Since the study in the field of rehabilitation engineering in our country is inchoate,the research is practical.The study in this paper is the wearable lower limbs rehabilitative robot, which is a kind of rehabilitative robot. It can be fixed on the human body and driven by the actuator to walk as a normal person, and make the patients do walking exercises and the disabled with motion obstacles to recover.The paper describes the current development status and application of the rehabilitation robot domestic and abroad, as well as the future development of the key technologies. Then in this paper, the mechanism of people's lower limbs and the gait are researched, based on which overall program is designed, including overall structure and control program. We also determined the specific robot-driven approach and the reasonable size of the various parts. Then the mechanical structure is designed in detail, and the mechanism model is established. As the need of the design , we simplified the freedoms of the lower limbs. Then setting up coordinate vary matrix with D-H method, and deducing the direct and inverse keys of its kinematics function. Using Simulink and SimMechanics toolbox in MATLAB to carry on the simulating research of kinematics, which shows the kinematics analysis is workable and correct.On the base of the kinematic model, we established the dynamic model by the accession of the quality,center of mass, and inertia of the lower limb. According to the simulation solution of the dynamics, we got the force and speed curves of the drive mechanism, which offered the theoretical basis for the choose of the motor and transmission radio. After getting the parameters of the drive, the servo control simulation model of the joint was established, using the two-closed-loop control of the speed and position. On this basis, the control model of the terminal trajectory was established, which made the coordination control of the joints and the control of the terminal trajectory come true.