Research For Rehabilitation Training Mechanical Leg

Medical theories and clinical medicine show that rehabilitation training not only help the elderly to restore the walking function, but also play a significant role for physical functions rehabilitation of the people with lower limb movement disorder caused by brain diseases and accidents, in addition to early surgical treatment and the necessary drug treatment. Therefore, the main purpose of designing the rehabilitation training mechanical leg is to provide patients with safe walking training and supporting the walk by the body’s balance, coordination and mechanical leg power and accuracy.Firstly, with the preliminary study of human limb movement mechanism, the design principles of the rehabilitation training mechanical leg is proposed. Under the principle and structure of the human body, designed the mechanical structure of the rehabilitation training mechanical leg, included:the structure of hip, knee, ankle, foot and configuration of degrees of freedom. Based on the three-dimensional parameters software Pro/E, three-dimensional solid model of the rehabilitation training mechanical leg is established.Then, elaborated the screw theory and Paden-Kahan sub-questions. With the screw theory, the kinetics of mechanical leg is expressed as exponent product; with the Paden-Kahan sub-questions, solved the inverse kinematics solutions of the mechanical leg. In this, the dynamics and Jacobian matrix of the mechanical leg is analyzing detailedly. In addition, according to the structure of mechanical leg, planed off-line gait and verified stability of gait by ZMP principle.Finally, with the three-dimensional parameters software Pro/E, established simplifiedly three-dimensional model of the rehabilitation training, and then imported it into ADAMS. Based on above, builded the control system with Simulink toolbox in software Matlab, through interface module ADAMS/Controls, realized coordinated simulation. Through this, I evaluated the validity of gait planning and control algorithm and got the joint torque, which offers important foundation for the choice of motors, reducers and improvement of the physical prototype.