Development And Simulation Research On A Wearable Pneumatic Partial Weight Bearing Walking Assist Robot

In this research, a novel wearable pneumatic partial weight bearing walking assist robot is developed to provide a useful walking assist device for elder people who feels difficulties in walking caused by osteoarthritis of lower limb. The robot can reduce load on the sick joint while walking and can improve the rehabilitation of the sick joint.Firstly, the walking assist devices both at home and abroad in present are discussed and compared. We found there are still lack of suitable weight bearing device which is small in size, low in price, capable of providing smooth walking assist force, capable of maintaining walking balance. A novel weight bearing walking assist device is still needed.Secondly, a concept of the pneumatic parallel partial weight bearing walking assist robot is proposed. In the beginning, our previous research is introduced. The unfinished work of the previous research and its shortcomings are presented. A new design of the robot to overcome these shortcomings is proposed.Thirdly, a prototype of the pneumatic parallel partial weight bearing walking assist robot is designed and developed. The mechanism of the robot is presented in detail. The design improvement in main frame, lock mechanism and foot force plate is discussed. The robot control system and pneumatic system are also presented in detail.Fourthly, robot control program based on Matlab/Simulink is made. The control algorithm and the its improvements are presented in detail.Fifthly, walking assist experiments at different assisting force level is done. The experimental devices, experimental steps and experimental results are introduced. The concept of the robot design is proved by these experimental results.Sixthly, a simulation analysis on wearable walking assist robot is also done. A simulation model based on Matlab/Simulink, SimMechanics and Stateflow is built. In our simulations, a biped robot model from ZMP company is used instead of a true human, thus overcomes the difficulties of modeling true human. In present, the model pass the compile stage and can execute. This make it possible for future analysis and optimal design.In summary, a novel pneumatic parallel walking assist robot is developed. In order to improve the performance of the robot, improvements on mechanisms and control algorithm is made. Analysis combine with experimental research, a deep research on pneumatic parallel walking assist robot is done.