Body Design And Gait Planning Of Wearable Lower Limbs Rehabilitation Robot

Wearable lower limbs rehabilitation robot technology, a popular research filed in recentyears, is a new application in medical field, which represents an integration of mechanism,human engineering, robotics, control theory and welfare engineering and etc. Wearablerehabilitation robot research of the overseas has been quite developed within many years, butthe research in rehabilitation engineering in our country is inchoate. So this research has agreat practical significance.This research is supported by “spring sunshine” plan of the National Ministry ofEducation. The wearable lower limbs rehabilitative robot is an exoskeleton robot, which isused to help patients with body damage or hemiplegics improve the activities of the jointsdamaged. It can be fixed on the human body and driven by the actuator to walk as a normalperson, and help patient rehabilitation training and make them acquire the correct scientificrecovery. The contents are as follows:1. By analyzing the current development status and application of the rehabilitation robotat home and abroad, the future development of the key technologies and the characteristic ofthe lower limbs motion, this paper determines the overall structure of the robot: the type andactivities range of the mechanism joints and degrees of freedom are determined, then thespecific robot-driven approach is determined,3-D mechanical model of the robot is built bysoftware Pore.2. According to the structure of wearable lower limbs rehabilitation robot, this papersimplifies the model of robot based on robotics and kinematics and matrix theory. Then thecoordinate vary matrix is set up and the direct and inverse keys of the kinematics of the robotare deduced by D-H method, which is used to be the foundation of the subsequent gaitplanning.3. At the phase of gait planning, the process of wearable lower limbs rehabilitation robotwalking are decomposed, then carry on planning on each step. The wearable lower limbsrehabilitation robot is modeled as an inverse pendulum, and the mathematical model of therobot is set up. Then the walking stability of the robot is ensured by means of the inversependulum movement rule and the ZMP fixed method. The trajectories of center of mass andswing leg are calculated by the ideal ZMP trajectory,and the planning results are obtained.