Research On The Lying Lower Limbs Exoskeleton Rehabilitation Robot

In this paper, we study a lower extremity exoskeleton rehabilitation medical bed. By using a inclination-adjustable bed as the platform for rehabilitation training, the device exceeded the limitation that the early rehabilitation patients can not stand, meaning their failures of using traditional standing rehabilitation exoskeleton. Lower extremity exoskeleton rehabilitation bed robot is composed of two parts, one is the lower extremity exoskeleton and the other is the bed platform.Firstly, in accordance with the human lower limb bionics, we choose the open-loop structure as the overall proposal of the lower extremity exoskeleton. The linear drive is employed to bionic the human lower limb muscle to drive exoskeleton joint. At the same time, in accordance with ergonomic, we carry out design principles of the bed platform. Based on the above design principles, we complete the movement description of the rehabilitation robot using the D-H matrix in Robotics. Besides, we establish analysis and MATLAB simulation of kinematics and dynamics of each joint. Based on the kinematic and kinetic data of the human lower limb gait, we complete the verification of lower limb exoskeleton simulation results. Bed joint dynamics simulation results are verified according to the dynamic data for the specific use of the bed.after the mechanism theory design, we use Solidworks 3D modeling software to establish a solid model for the robot. As for control system design, we determine "PC + motion control card + drive motor" as the hardware framework. In the hardware sub-systems of the control system, we complete the DC motor drives with DSP chip and motion control card with DSP + CPLD .At last, we determine the rehabilitation strategies, and use the Micrsoft Visual VB6.0 software to finish the design of software based on the rehabilitation strategy.Based on the above theoretical analysis and design results, lower extremity exoskeleton rehabilitation bed robot prototype is manufactued, assembled and debugged. Through experimental research, the system is able to complete training requirements of patients requiring lower limb passive training well, and laid the foundation for research in the future.