Research Of The Lower Extremity Exoskeleton Based On Omni-directional Mobile Rehabilitation Robot

Medical theories and clinical medicine show that not only early surgical treatment and the medical treatment is necessary for a hemiplegia patients, but rehabilitation training is also playing a significant role for physical functions rehabilitation. So the main purposes of the lower extremity exoskeletons rehabilitation training robot is to provide a reliable walk training institutions for patients intelligent rehabilitation training.Firstly, with the principles of omni-directional mobile platform and human walking dynamics, the design methods of passive exoskeleton is proposed. The design parameters are optimized to satisfy the joint torques. In order to satisfy more rehabilitation needs, the exoskeleton's driving mechanism is designed anthropopathy. Based on three-dimensional parametric software Pro/E, the rehabilitation exoskeleton model is established and design parameters are given in detail.Then, for the characteristic of free movement in indoor environment, the rehabilitation robot wireless information collection system included upper and lower machine is completed. Pro/E models and evaluation methods for rehabilitation assessment has also been built. A primary experiment with unilateral passive exoskeleton in healthy volunteers is built to test the usefulness of the information collection system.Finally, the exoskeleton passive rehabilitation control strategy was studied. Depending on the speed of movement of lower limb, the normalized joint angle parameter equation is given in paper. Based on the control model of driver, a controller is established and tested in simulation environment.