The Study On Gait Planning For Wearable Lower Limbs Rehabilitation Robot

In recent years, due to the rapid development of economic, transport graduallyincreased, the number of accidents caused due to sudden neurological damage or physicalinjury has shown a significant rise. And, with the gradual progress of science technologyand people’s living standards, our country and other many countries, is moving into aging.According to statistics, the number of elderly people aged over60accounted for11percentof the population, a large number of patients with cardiovascular disease or neurologicaldisease in older people masses, most of these patients with hemiplegia symptoms, therefore,It is necessary for the study on the rehabilitation robot.In the beginning of this article firstly introduces the research background, the basicoverview of the significance of rehabilitation robots and trends in the development of lowerextremity exoskeleton rehabilitation robot, the subject of the study describes the source andpurpose. Through the anatomy of various joints of the human lower limb, analysis of itsstructural features, according to rehabilitation medicine theory,the lower extremityexoskeleton model is builded. Using the DH rule to establish forward kinematics analysismodel, and with Matlab SimMechanics mechanical simulation module on the end of thetrajectory curve legs when walking simulation analysis, through the analysis of trajectory,gait planning for the next chapter provides a reference to the final brief the application ofnumerical methods for solving the inverse kinematics seeking rehabilitation robot,illustrating the general steps of this method for solving.When lower extremity exoskeleton rehabilitation robot gait planning,Firstly aiming atthe tasks and conditions of the mechanical leg, referring to the normal human lower limbgait characteristics by the OpenSim simulate, a more complete analysis and research ofmechanical leg gait. Using joint angular displacement, velocity and step length as a validargument gait planning. Secondly, according to the characteristics of human walking, themechanical process is divided into start walking, step and stop the three stages of training, adetailed analysis of the characteristics of each stage of the operation to determine the jointangle changes as a function of each stage, before and after the action sequence, respectively,to develop a plan for each phase of gait. Finally, the gait planning of each stage inaccordance with the actual sequence join together into a complete whole gait planning. The above gait analysis provides the conditions for rehabilitation exercise control, hereare the basics of medicine based on the relevant requirements under rehabilitation, andaccording to the degree of motion in at different stages of recovery, development ofappropriate rehabilitation program also introduces the rehabilitation specific processevaluation. Finally, before the planning function discrete angles, applied to the concreterealization of the process of rehabilitation of lower extremity movement.