Structure Design Of Lower Limbs Rehabilitative Robot Based On Bionic Joint

As in recent years, The increasing aging, Increase in traffic accidents and Increase inMotor deficits by various diseases in our Country, This caused a huge burden for the patient’sfamily and social. Although rehabilitation medicine in the treatment of such diseases hasmade great development, but it need one-on-one guidance of a professional therapist in mostcase, Not only inefficient, but also the effect of treatment with professional therapists have agreat relationship. Rehabilitation robot is a new type of robot in recent years, it is specificallydesigned for patients with motor function disorders, and it is effective in reducing theintensity of the work of the therapist, to improve the efficiency of rehabilitation. So, the robotof the lower limb rehabilitation training is necessary.Based rehabilitation theory and human lower limb joint motion characteristics, this paperpresent the structural model of the two types of bionic joint lower limb rehabilitation robot.At first, this paper described the background and significance of the research projects,and describes the research status of the lower limb rehabilitation robot, combined with thecurrent situation analysis of the technical difficulties. Based on the understanding of thehuman lower limb skeleton model, combined with the human lower limb rehabilitation theory,determined the overall design of the bionic joints, Mainly Include Joint selection and itsallowable range, degrees of freedom distribution, determine the drive form. Finally,5kindsspace mechanisms for the bionic joint rehabilitation robot are proposed.Completed the analysis of the five mechanisms. At first, it calculated degrees of freedomof the2-PSS/U mechanisms by the modified CGK; verified the correctness of the results bythe Screw Theory. Completed forward displacement analysis and inverse positional problem,Completed the mechanism velocity analysis with the Screw Theory; A simple analysis of theworkspace and singular configuration of the mechanisms. Secondly, A comparative analysisof3-RPS and3-UCR mechanism from the degree of freedom, Forward and Inverse Position,speed, workspace and singular configuration. Finally, it completed comparative analysis ofthe2-RPS+PSR and3-RSS/S.Classified the five mechanism of previous paper, Completed its structural designaccording to the classification, And design the3D structure diagram; Proposed two types ofthe bionic joint-lower limb rehabilitation robot structure model; One is the whole lower limbthe bionic joint rehabilitation robot, Another is dedicated for a joint rehabilitation robots;Finally, in2-PSS/U for example, Design a modular bionic joint lower limb rehabilitationrobot.