Research On Mechanical Design And Control Method Of Lower Limb Rehabilitation Training System

With the rapid development of economy and improvement of people’s livinglevel and the growing aging, people’s health problems have caused more and moreattention. Especially for aging populations of the lower limb motor dysfunctioncaused by paralysis, fall and some bad living habits, has become the problem must besolved to building the harmonious society. Therefore, researching an intelligentsystem for lower limb rehabilitation training and developing a correspondingrehabilitation control methods has caused widespread concern in society.Based on the above research background, the mechanical structure of lower limbrehabilitation training system in this paper has the advantage of simple installation,convenient processing and low cost. And the control method in this paper can not onlyenable the patient to stand up following the healthy body posture to avoid thesecondary damage of the forced movement caused by passive stretch, but also thepatients can complete the corresponding rehabilitation training at different stages ofrehabilitation in case of independence, so that the patients can receive the best trainingeffect. This has important practical significance for social promotion andfamily-oriented application of the lower limb rehabilitation training system.Firstly, in this paper,the body’s center of gravity trajectory curve is given instanding process according to the research and analysis of the kinematics anddynamics theory and the health of the human body center of gravity track changefrom sitting to standing process, and the mechanical structures of the lower limbrehabilitation training is designed based on the study. Modeling and dynamics simulation are carried out using CATIA and Hypermesh. And then improved designand optimization calculation are conducted continually, which not only meet theexpectations of the mechanical load-bearing requirements and but also achieve to thepurposes of less materials, light weight, disassembly and assembly conveniently, andconvenient to family-oriented use. At the same time, considering the actual situationof patients at different stages of rehabilitation requires targeted training, the paperproposes a controlling method for the lower limb rehabilitation system, namely thetrajectory control method and damping control method. Trajectory control methodallows trainers to stand up according to set procedures in accordance withrehabilitation training trajectory in line with its own conditions to achieve the besteffect of training. Damping control methods is mainly for the patients who haverecovered part of the lower limb muscle strength, and focused on the training of anaction when patient’s muscle strength is relatively weak in the process of training,which makes the training more effective. Through the simulation and analysis of thesubjects in the training process, the feasibility and safety of the system are verified.Finally, a summary of the work in the paper is given, the lack of work is discussed,and make the prospects for future research.