The Research Of Wearable Lower Limb Rehabilitation Robot System

Rehabilitation robot used in the lower limbs recovery is a man-machine system, whichstarted in cross of robot technology and rehabilitation medicine in recent years. At present, witha rapidly ageing population and the increase of physical movement disorders patients caused byvarious diseases, rehabilitation robot technology has become a new research field and animportant branch of robot research.After the analysis for the currently domestic and foreign research of this field, this paperpresented the subject that is a "The research of wearable lower limb rehabilitation robot system". At the beginning, paper set up an intelligent lower limb rehabilitation robot systemframework, and introduced its working principle and basic component in detail. According tototal function requirements, the system of lower limb auxiliary rehabilitation training mainlycomposed by the robot mechanical structure, rehabilitation evaluation system, upper computerand lower controller parts. According to the requirements of lower limb rehabilitation robotdesign, the paper designed a series and parallel hybrid driven lower limb rehabilitation robotsand did the structure theory analysis, kinematics and dynamics simulation by Simulink andSimMechanics toolbox in MATLAB. Recovery assessment is the basis of rehabilitation therapy.At present a lot of rehabilitation evaluation methods are subjective, not quantitative, whichseriously restricted production of the intelligent rehabilitation equipment. According to thepresent situation, on the rehabilitation assessment, this paper firstly introduced two concepts:"joint Angle health belt" and "health evaluation index (HAI)", which realized the function ofquantification of patients recover level assessment and recovery strategy formulation. Thecontrol system mainly included upper computer and lower controller parts. In control systemdesigning, firstly built the whole control system scheme of the robot rehabilitation, thenrespectively to introduce the software and hardware design process. The upper computermainly responsible for human-machine interaction, data analysis and processing, rehabilitationlevel evaluation, training mode selection and so on, which realized in PC. Lower controller partwas mainly used to complete the data collection, the output of control instruction for actuatorsand communicated with PC, and so on, which accomplished by single-chip microcomputer.In the end, the numerical simulation experiment is carried out in Matlab environment, thesimulation results verify the effectiveness of the control law.