Research And Realization Of The Wearable Lower Limbs Rehabilitative Training Device

In this paper, we study a wearable lower limbs rehabilitative training device. It is a mechatronic system that can be used to rehabilitative training for paraplegics. When it is dressed on the patient, the device simulates the action of healthy people to help the patient training and walking, so that the lower limbs movement function of the patient can be recuperated, and achieve the purpose of restore to health. At the same time, the patient can maximally realize self-care and strengthen the confidence to life.Firstly, we introduced the research status of rehabilitation training simulators and robots at home and abroad, and then analysised and studied the lower limbs movement features and laws, after that the human walking gait kinematics model was established by homogeneous coordinate transformation, and discussed the stability of walking. Secondly, we made all kinds of motion planning for the different patients' requirements, and determined the size and motion range of the training device. At last, with the AT89S52 as the control core, the DC servo system and the sensor technology, a prototype of the wearable lower limbs rehabilitative training device was developed, After the actual test, it has achieved expect design aim.The training device has many functions such as single walking, mark time, continuous walking, upstairs, downstairs, sit down and stand up. And it has strong safety testing ability and protection measures. It also has the features of simple to operate, easy to use and upgrade, safety and reliability, etc.There have two innovative points. One is the rehabilitation training motion control planning was established through observing and testing the motion of healthy people and the patients. Another one is the design of a waist link, which has certain freedom. It makes the patient feel comfortable when they do exercises, and it can also relieve the radial stress of the waist motor to protect motor system.