Mechanism Design And Research Of The Wearable Lower Limb Exoskeleton Rehabilitation Robot

Along with the continuous significantly development of science and medical technology, the demand of rehabilitation therapy equipment for patients with lower limb paralysis is becoming more and more urgent. According to this need, a wearable lower limb exoskeleton rehabilitation robot is designed.The stability of the rehabilitation robot system, smooth movement process and the patients wearing comfort was fully considered in the process of design. The patients who wear the lower limb exoskeleton rehabilitation robots can complete actions of rehabilitation training successfully.In this dissertation, after a thorough research of domestic and abroad development of rehabilitation robot at this stage, the characteristics of rehabilitation robots designed by institutions at home and abroad is illustrated,and the advantages and disadvantages of the robot is analyzed. Then we designed a wearable lower limb exoskeleton rehabilitation robot based on human anatomy and human gait kinematics characteristic parameters. The general design idea is illustrated from four aspects carried on the preliminary introduction,the mechanical structure, perception, control system and power supply system.The D-H method is applied to kinematics analysis of the wearable lower limb exoskeleton rehabilitation robot. The degrees of freedom of human body is simplified based on the existing conditions, then the single leg model of the wearable lower limb exoskeleton rehabilitation robot is established, the joint variables and the relationship between the robot end position control is defined. The Lagrange- Euler method and Newton’s method was respectively used for building dynamics modeling of the lower limb exoskeleton rehabilitation robot in dynamics modeling, and the feasibility of the PD controller of control system applied in the lower limb exoskeleton rehabilitation robots is verified.In the process of movement, rehabilitation robots need to maintain the consistency of the normal human body movement. Human movement experiment was carried out in this kind of situation, each joint motion parameters of human body was collected in this experiment,to get the biggest driving force moment of all the joint and the maximum power, a comprehensive analysis is made based on the lower limb exoskeleton rehabilitation robot dynamics model. The final selection of motor and reducer is determined through the comparison of the advantages and disadvantages of different drive way, combined with the analysis of the drive motor and reducer torque and power. Then degrees of freedom and the adjustable mechanism of the length to each joint was designed in consideration of wearing comfort and man-machine engineering. The 3-D model of the limb exoskeleton rehabilitation robot is established with the software Pro-e, and the first generation of lower limb exoskeleton rehabilitation robot is finally completed after prototype manufacturing.