Horizontal Limbs Rehabilitative Robot

Lower limb rehabilitation robot is a kind of adjunct to rehabilitation medicalrobots which is production of cooperation between rehabilitation medical and robotics.It bases on the theory of brain’s plasticity and motor relearning, and relate torehabilitation medicine, computer science, amechanical disciplines, robotics,control theories and other fields, it becomes a hot spot of the research today.The horizontal lower limb rehabilitation robot of this study is a special lower limbrehabilitation device, which is mainly used for the earlier rehabilitation of strokepatients, and also can be used to do the day-to-day lower extremity rehabilitation forbedridden patients with hemiplegia, that can be effective in improving the patientswith lower limb blood circulation and preventing joint rigid. Based on the domesticand foreign Rehabilitation Robotics Research, from the perspective of rehabilitationtheory, combined with lower limb anatomy and chinese medicine.massage theory,thispaper analysed the structure of human lower limb, lower limb movement gesture ofnormal human horizontal and commonly lower limb massage techniques used intraditional Chinese medicine, and proposed the six horizontal lower limb rehabilitationactions and the overall architecture of the robot. Baseed on the software platform ofCroe1.0software, this paper built the three-dimensional model of four degrees offreedom robotic arm, did the kinematics and dynamics simulation of the system, basedon simulation results demonstrate the feasibility of the structure, choosed theappropriate driver source. Based on clinical usage and security factors,,designed andproduced the robot arm that adapt to different heights, the left and right lowerextremity, a different level of beds, made system dynamics and kinematics analysisand calculation,, analysed and designed the horizontal lower limb rehabilitation robotcontrol system, developed the experimental prototype of horizontal lower limbrehabilitation robot successfully.We can see by the experiment on the the horizontal lower extremity rehabilitationmanipulator robot moves smoothly, achieved rehabilitation action angle and speed adjustable, kinematic has no dead spots, experience felt comfortable about lowerextremity, so proved that the designing of the robot mechanical systems, drive systems,and control the system is reasonable, and meet the demand for lower limbrehabilitation action，so it has a high use value and market prospects.