Pedal-powered Lower Limbrehabilitation Robots Research And Rerlization

In rencent years, rehabilitation robot technology has been developed rapidly. It is anemerging technology which represents the important branch and applications of robots in themedical field. Lower rehabilitation robot is one of this kind of robots. It can simulate thetrajectory of the body’s normal walking gait, and help lower extremity motor dysfunction inpatients with lower limb rehabilitation training, in order to achieve rehabilitation purposes.According to the development of robot based on the lower limb rehabilitation training athome and abroad as well as the application objects, and the research of gait rehabilitation theory,it was confirmed the overall structure of the lower limb rehabilitation robot, the simulation of therobot was carried out as well as experiment research. The main contents are as follows:This paper proposes a design solution according to the standard gait path and walking rules.On this foundation, the lower limbs’ driving equipment can meet the requirement of differentstep length and height, so that the users can select the most suitable mode for their own condition,and then get a good training gradually.The kinematical models and kinematical analysis of the lower limbs driving equipment areintroduced. In addition, the movement process of the lower limbs driving equipment is simulated,from which the lower limbs rehabilitative robot reaches the design request.Through the research of the human-machine engineering and utilize the method ofcomputer aided ergonomics design, simulate the posture of human train on rehabilitation device,and appraise the posture.At the end, the experiment prototype of horizontal lower limbs rehabilitation robot isdesigned. Through the experiment, the work pace and the capacity as well as the change of thelower extremity joint angles of the lower limb rehabilitation robot can be acquired, and finallydiscuss the rationality of the design.