Analysis And Optimization Design Of Wearable Lower Extremity Rehabilitation Robot Mechanism

The research object is the wearable lower extremity rehabilitation robotmechanism. Wearable lower extremity rehabilitation robot is a typical man-machineintegration system. The mechanism is a wearable mechanism for rehabilitation to helppatients with physical disabilities on the lower limb. The paper mainly analyse andstudy the man-machine movement compatibility to design wearable lower limbrehabilitation robot with a better movement compatibility, which helps to improve theperformance of the wearable lower extremity rehabilitation robot system and improvesafety and comfort of lower limb rehabilitation training.This paper analyse and summary the research situation in home and broad andexisting problems in order to determine the research content and the need to addressthe key issues. First of all, the physiological structure of lower limb hip and knee boneand its joint movement characteristics is analyzed, rigid model of the human skeletonestablished. Then the institutional configuration is chose preliminarily according tothe compatibility of the design requirements, the mode of man-machine connectionand institutional configurations is determined by DOF analysis. What is more, the upand below knee motion equations of lower limb rehabilitation robot is deduced, theconnection of the analytical kinematic joint is solved to pave the way for parametersanalysis and optimization. Then the parameters law on movement compatibilityeffects is summarized, and the optimizing variables, people-machine movementoptimization indexes and related compatibility constraint condition are determined.Finally the mechanism is optimized and verified with MATLAB programming.The paper also proceeds from the ankle physiological bone structure andman-machine movement compatibility, presents a new wearable ankle rehabilitationrobot mechanism. Its establishment of the coordinate system obtains kinematicequations. The connection parameters and initial offset is analyzed with the kinematic.On this basis, the range of design variables are determined, thereby the optimizationtarget is established to optimize the design.