Control And Mechanical Structure Optimization Design Of Lower Limb Rehabilitation Training Robot Based On SEMG

The quick-paced life style nowadays leaves people seldom paying attention totheir health. Beause of cranial vascular disease such as apoplexy, hemiplegia andischemic apoplexy, and the high frequency of traffic accidents, people easily getdamage in their neural system which greatly influences their normal life.Theadvancement of rehabilitation medicine engineering will render great help to people tolive a normal life.Based on the purpose of lower limb rehabilitation in this paper we establish a setof lower limb rehabilitation training robot to help the patients to recover their workingabilities. First of all, based on the current research status of home and aboard for lowerrehabilitation training robot, it analyzes the importances and difficulties in the subjectstudy. Combined with medical rehabilitation theory, we present the overall designscheme for lower rehabilitation training robot in this paper, and devise the overallmechanical structure of training of lower limb, the pneumatic system of weight lossmechanism and the pneumatic system of booster legs mechanism. Secondly, weanalyze the importances of constant reduced gravity on the human gait training,andplan trajectory of booster legs movement, and provides a good foundation for theexperiment through the simulation analysis. Through building experimental platform,it completes reduced gravity variation under the conditions of the different pressures,different subjects, different treadmill speeds, and verificates the system which canrelieve patients weight effectively. Through the control experiment of booster legs, itperformes the single joint position corresponding to a single joint, trajectory tracking,single leg double joints control linkage, and legs of the experiment.The aim is to beable to achieve lower limb gait of humanoid walking rehabilitation training for patients.Based on the lower limbs of human body SEMG, we establishes evaluation schemes oflower limb rehabilitation training. The lower limb rehabilitation training robot is the effective combinations of robottechnology and theory of rehabilitation medicine. The robot can not only reduce theworking strength of physiotherapists. but alse can improve lower limb rehabilitationtraining efficiency of the patients at the same time. Through a lot of experiments,wehas verificated the feasibility and validity of lower limbs rehabilitative robot. At thesame time our research also provides effective reference for the future exploration ofman-machine integration system and electromechanical integration system controltechnology. The research contents have great theoretical and practical value.