The Application Research On Teaching And Training Of The Lower Limb Rehabilitation Robot Based On Accelerometer

At present, there are a large number of disabled patients in our country. According to the rehabilitation medicine theory, providing the patients with scientific rehabilitation training can recover and improve their limb movement function effectively. The traditional manual recovery and rehabilitation robot have their own pros and cons. Only combining clinical experience of rehabilitation physicians with rehabilitation robot can provide an effective, stable and repeatable training methods, with quantitative training parameters, which can be used to formulate scientific and optimal rehabilitation plan to improve training efficiency.This paper is mainly about the research of the human lower limb motion information acquisition method based on accelerometer and the wireless data acquisition system that can record the process of rehabilitation physician clinical training. This system can be used for the teaching and training of the rehabilitation robot.Firstly, the model of one side lower limb motion is established in the human body sagittal plane. According to the accelerometer ADXL345, the mathematical relationship between the acceleration data and joint angles is established by using the recursive Newton-Euler method. The kinematic analysis of the model is completed based on "D-H method", and relationship between the joint angle and the trajectory of the end is built.Secondly, the wireless data acquisition system board is developed. Circuit principle of each module are analyzed and introduced. The lower computer software design is expounded systematically, including serial communication module, accelerometer module, wireless data communication module and control unit module.Finally, the PC software programming is completed by using Lab VIEW software. The user interface and operational processes of the software is introduced. The experiments of wireless data acquisition system static measurement error analysis, system calibration, the motion trajectory recording of the lower lamb end and teaching and training of the lower limb rehabilitation robot are completed, which verify the feasibility of using the wireless acquisition system to teach and train the lower limb rehabilitation robot in this paper.