Design And Research Of Sitting Rehabilitation Robot Of Limbs Coordination Training

In recent years, the quantity of limbs function disorder is increasing since of the physiological function recession, stroke hemiplegia, spinal cord injuries and so on.lt has been far from meeting their needs to do rehabilitation therapy through simple medical equipment or artificial rehabilitation nursing. Rehabilitation robots can not only reduce the labor intensity of nursing workers to ensure the strength and efficiency of patient rehabilitation, but only objectively evaluate the effect of rehabilitation patients, which has gotten wide spread concern, with a broad research and application prospects. The paper on the basis of analyzing the research status in the field of rehabilitation robots at home and abroad, based on the mechanism of exercise rehabilitation, develop a new kind of sitting posture rehabilitation robot which has the function of limbs coordinate training, the specific work is as follows:The paper analyses the body physiological structure and main joint mobility of the upper and lower limbs, as well as the coordination of the laws and the trajectory, then propose rehabilitation robot design requirements and design experiment to explore the law of body motion which meet design requirements in the sitting position state. On this basis, the paper innovative design seven linkage metamorphic mechanism as physical rehabilitation coordination mechanism, changing the degrees of freedom and working position of the mechanism to transform mechanism motion parameters to achieve adjustable rehabilitation track position and amplitude, meanwhile, design virtual prototype rehabilitation robot by Pro/E software.The direct and inverse kinematics analysis for rehabilitation mechanism deduce kinematics equations of the end of mechanism. The workspace of the mechanism gets confirmed through establishing the corresponding simulation model by Matlab SimMechanics and verifying the direct and inverse kinematics analysis.All Lay the foundation for robot motion control and planning.The paper studies the method of determining rehabilitation mechanism working position. For patients with different height, the paper builds man-machine model between patients and rehabilitation training mechanism, then simulate results for each limb and joint activity curves and data, by which the working position of the mechanism can be confirmed. According to different range of training, an optimization design method is adopted to determine the working position of the mechanism.Finally, rehabilitation robot prototypes is developed as well as a series of experiments including physical coordination training function experiments, planning training magnitude of lower limbs coordinate training function experiment, and automatic adjustment mechanism experiments. The result shows that the robot can meet the needs of different upper and lower limbs rehabilitation training coordination patients.