A Study On The Bionic Exosekeleton Robot For Lower Limb Rehabilitation

The lower limb rehabilitation robot system overcomes the drawbacks of the traditional body weight supported treadmill training such as intensity insufficiency and data deficiency by making good use of the inexhaustible and data-recording characteristics of robots. Meanwhile, the physiotherapists will be freed from the repetitious manual work and concentrate themselves on the evaluation of the training effect and the design of the training plan, so that the training quality and efficiency will be highly improved. At present, the lower limb rehabilitation robot has become the research focus of the neuro-rehabilitation technique at home and abroad. Associated researches, including rehabilitation training methods, simulation of human gait, mechanical design of the lower limb rehabilitation robot and walking gait coordinations of the lower limb rehabilitation robot, are performed in this thesis. To be specific, they can be described as follows:(1) Using human motion simulation software OpenSim, this thesis established a musculoskeletal model of the lower limb of human body, simulated the motion of the lower limbs in normal walking gait and provided the necessary basis for the design and control of the lower limb rehabilitation robot.(2) This thesis has built a four-rod rigid body model of human lower limbs and made a kinematic and dynamic analysis of the four-rod body model by the multi-body mechanics. Therefore, the theoretical basis for the control of the lower limb rehabilitation robot is provided.(3) The bionic exoskeleton mechanical leg of eight degree of freedom is designed in combination with many technologies, such as ergonomics, bionics and mechanical design. In order to realize the active flexion and extension movement of the hip and knee joints of the exoskeleton mechanical leg, torque motor and harmonic gear reducer are used. The passive intorsion / extorsion and adduction / abduction of hip joint are provided by the flexible connection plate. Using UG design software, this thesis established the assembly drawing of the bionic exoskeleton robot and made a simulation analysis of the walking gait coordination of the bionic exoskeleton robot, so that the necessary basis for controlling the lower limb rehabilitation robot to simulate human gait is provided.This thesis makes some creative exploration from the following aspects and gets some fruitful achievements:(1) Using human motion simulation software OpenSim, a musculoskeletal model of the lower limb of human body is established, and the motion of the lower limbs in normal walking gait is simulated;(2) The two passive DOFs of hip joint of the lower limb rehabilitation robot are designed with the flexible connection plate;(3) The four-rod rigid body model of human lower limbs is built and analyzed;(4) The problem of the walking gait coordination of the lower limb rehabilitation robot is investigated.This thesis makes a deep investigation into the key issue of the lower limb rehabilitation robot system, namely the exoskeleton mechanical leg, and provides the necessary basis for the development of the lower limb rehabilitation robot system aiming at practical application. Therefore, the studies of this thesis are of great practical significance for the development of related products about the lower limb rehabilitation robot.