Design And Analysis Of A Lower Limbs Rehabilitation Robot

Rehabilitative robot is a new technology that has been developed rapidly in recent years, and it's the robot's application in the medical field. We just begin to study it in our country while some valuable performance has been gotten abroad. So the study of lower limbs rehabilitative robot will benefit the development of the technology in our home land.Lower limbs rehabilitative robot can train he who has handicap of walking by simulating normal moving path. This paper mainly studies how to obtain and analyze the standard gait, the machinery design and kinematical analysis and simulation of the lower limbs rehabilitative robot.This paper's basic data is obtained through some photos taken when walking normally using an ordinary camera. A mathematical expression of the standard gait path is deduced based on the analysis of several test data.In this paper, a kinetic model of human walking process is established based on the parameter of the walking process. According to the kinetic analysis of this model, provide two suggestions for the lower limb rehabilitation robot design and offer a possibility of verify the safety for the lower limb rehabilitation robot.This paper proposes a design solution according to the standard gait path and walking rules. On this foundation, the lower limbs'driving equipment can meet the requirement of different step length and height, so that the users can select the most suitable mode for their own condition, and then get a good training.The kinematical models and kinematical analysis of the lower limbs driving equipment are introduced. On this foundation, the movement process of the lower limbs driving equipment is simulated, from which the lower limbs rehabilitative robot reaches the design request.