Research On The Key Technology Of Sitting Type Lower Limb Rehabilitation Robot

As requirements for the improvement of medical level, people pay more and moreattention to the study of rehabilitation robot for hemiplegic stroke patients.Rehabilitation robot belongs to the medical appliance. It is mainly used for variousmotor function injury patients to help them recover normal body functions withrehabilitation training. Since the70’s of last century, domestic and foreign researchershave begun to set foot in this field, and continuously strengthen the research, andachieved certain results. This paper mainly discusses the design process of a lowerlimb rehabilitation robot’s moving parts in the aspects of mechanical structure.First of all, analyze and discuss of human lower limb motion characteristics in theperspective of the lower limb of human body structure. Then through the specificexperiment to analyze and verify the correctness of the theory in order to determinethe mechanism design goal and get some important parameters of design process.Secondly, formulate design scheme of a motion mechanism according to size ratiorelationship of human and the principle of Ergonomics. Then analyze the scheme inmechanism kinematics and discuss displacement between each components ofinstitutions, the relationship between speed and acceleration.At the same time derivethe displacement relation and the speed relation of driving component and the targetcomponent, preparing for the following design.Thirdly, establish a three-dimensional model of the mechanism and analyze themechanism with ADAMS software. Do some detail adjustments in the model analysisof the design process. Then combined with the results of model simulation ofkinematics analysis, evaluating the mechanism scheme of the design is whetherreasonable by the analysis of the data in the simulation. Then optimize the designfurther. This process also proves whether the kinematics analysis is correct.Lastly, Make robots rehabilitation training mode according to the recovery ofpatients and features of rehabilitation robot for doctors and patients to choose.Based on the combination of domestic and foreign research results, a rehabilitationrobot for patients with hemiplegia is designed.