Research On Pedal Gait Rehabilitation Trainer

Rehabilitation device has developed rapidly in recent years, that it is used to help the old,the patients has lower limbs movementdysfunction which caused by trauma and traffic to dothe rehabilitation training,recover limb function. It has extensive research value and marketprospect. Therefore, the subject has more practical significance. This paper studies thePedal-Gait Rehabilitation Trainer designs a kind of rehabilitation trainer with the functionofmetatarsal joint rehabilitation training and weight loss rehabilitation training, which canhelp the paralytics, the lower limb movement disorder patient to do the rehabilitation training.It has a wide application value.In this paper, it analyzes the joint structure, size of human foot and the characteristics ofthe human gait rule,which already become a research focus in field of the internationalon thebasis of the body’s normal walking gait theory robot to provides the data parameter and theorybasis of the mechanism design. By testing the human body gait measurement, it determinesthe Pedal-Gait Rehabilitation Trainer worker space and the overall scheme.Next, it determines the Pedal-Gait Rehabilitation Trainer’s general structure. Device’smechanical structure contains three parts: gait track simulation rehabilitation traininginstitutions, metatarsaljoint rehabilitation training institutions and weight loss device. UsesPro/E software to proceed3-d model, analyzes and illustrates the specific connectionmodules by the2-d model draw by the AutoCAD software.Third, this paper splits the rod pieces of Pedal-Gait Rehabilitation Trainer, and composesthe corresponding M functions by using the strong matrix operation feature of the MATLAB.Through the MATLAB/Simulink build the model of rod pieces mechanism and simulation.Get Pedal-Gait Rehabilitation Trainer’s foot pedals and metatarsal joint’s bending curve, itconsists with the gait of walking on the flat trajectory, metatarsal joint’s bending rules andankle’s bending angle rule.Finally, using the New-Euler method to deduce the device’s the movement equations anddynamic equation, constructed the restraint matrix. Ascertain Pedal-Gait RehabilitationTrainer’s control scheme, completethe research of the Pedal-Gait Rehabilitation Trainercontrol system, control system composition and manufacturing sensor signalacquisitioncircuit.