Research And Exploration Of Horizontal Lower Limb Rehabilitation Robot

With the arrival of an aging society and the improvement of people’s living standard, social give more attention in the field of rehabilitation, the various types of physical rehabilitation training device has become hot spot in medical field. The main subject of study in one size adjustable horizontal trajectory of variable passive lower limb rehabilitation robot. Its characteristic is the leg trajectory similar with human gait training, and according to different groups using different training tracks, while the center position of each track change small, patients can use different tracks without frequent adjustment body, simplifies the operation of rehabilitation training.posture simplify the rehabilitation operation. The rehabilitation robot mechanism uses two degrees of freedom of a four-bar mechanism, to avoid the mechanism stiffness decrease caused by excessive bars, it also simplifies the robot structure,and reducing the difficulty of manufacturingIn this paper, the author will first analyze the development of limbs rehabilitation both at home and abroad. And then give an account of a new horizontal lower limbs rehabilitative robot designed on the basis of the experience gained from the investigation in the provincial hospital. It has the following characteristics:1) It is easy to operate and saves physical labor of the health care workers.2) Its appropriate size is suitable for small nursing homes and even for families.3) Mechanical output trajectory imitates human gait and its length is adjustable to suit different patients of different figures.The main function of the robot is the simulation of human walking gaits at a normal speed. Therefore, starting with the analysis of ordinary people’s gaits, the author designs the robot by using four-link mechanism with variable size to achieve target gait trajectory, setting kinematics dynamics mathematical model and analyzing the movement rule and stress condition of each component under the work conditions in different situations. Meanwhile, finding out the motion changes in joints in the legs by analyzing the leg kinematics model and establishing its mechanics equations are also fundamental.The author builds a3D model by using Pro/E software and uses ADAMS to optimize the design of horizontal lower limbs rehabilitative robot as well as to conduct dynamics simulation. By doing so, the motion of mechanics and lower limbs in different situations and sizes can be figured out. Moreover, the movement rule of the robot and joints of the lower limbs can be analyzed as well. The above studies can guide the patients to use this kind of rehabilitation robot.