Gait Planning And Rehabilitation Strategy Of A Wearable Lower Limbs Rehabilitation Robot

In recent years, with the aggravated aging degree in China, the increasing incidence ofdisease of the old is coming, especially the lower limb movement disorders which is causedby angiocardiopathy bring great damage for patients themselves, their families and society.For both the development of the rehabilitation medicine and the number and energy ofrehabilitative physician are limited, many lower limb disorders missed the best period ofrecovery and caused lifelong regret. So it is necessary to research the rehabilitation trainingrobot, it can partly replace rehabilitative physician to help patient do the training.Focusing on the rehabilitation training of patients, this article designed a double footrehabilitation robot which can be dressed in patient’s lower limbs. It provides a new way forrehabilitation training for patients.This article first introduced the research background, status quo and future developmentabout lower limbs rehabilitation training at home and abroad, then presented the researchmeaning and purpose of lower limbs rehabilitation robot. We proposed a wearable lowerlimbs rehabilitation robot model after analyzing the bones characteristics of human lowerlimbs and researching rehabilitation medicine theory. We did the kinematics analysis,introduced the progress to calculate the inverse kinematics, and simulated the track ofswinging leg while it’s single leg support using Matlab/SimMechanics.In the robot gait planning, we first break down the gait process into many correspondingsmall steps, then planning every small step respectively. Based on the mathematical model ofrehabilitation robot we established, the bipedal robot was abstracted as inverted pendulum.Thus we can calculate the motion trail of robot’s centroid and swing leg using the movementrule of the inverted pendulum model, plan the gait of rehabilitation robot and deduce theprogramming function of each gait.Based on the gait planning above, we confirmed eight gait rehabilitation modes forpatient’s rehabilitation training by choosing different gait parameters. We analyze the inversekinematics of the middle step of mode F1. The obtained discrete angle values are fit into thecontinuous curve about time through Matlab fitting curve toolbox, and we also get thefunction expression. All of these provide the theoretical basis and technical support for theresearch of control system.