Design Of The Lower-limb Rehabilitation Exoskeleton Robot Based On Human Ergonomics

Our country has gradually entered the era of aging, the problem of the elderly has attracted more and more attention. The main purpose of this article is helping the elderly and disabled people to walk and to assist in the correction of gait abnormalities. Because of the rehabilitation exoskeleton robot directly acts on the wearer’s legs, the design of his comfort and safety must be reasonable. Ergonomics(or human factors) is the scientific discipline concerned with the understanding of interactions among humans and other elements of a system, and the profession that applies theory, principles, data and methods to design in order to optimize human well-being and overall system performance. In this paper, a rehabilitation exoskeleton robot has been designed based the relevant knowledge of ergonomics. The main work of this paper is the following:Research the body size and the range of lower limb movement and the knowledge of physical man-machine interaction as the basis of the adaptive dimension design, strapped design and security design of the rehabilitation exoskeleton robot.Architecture design of the rehabilitation exoskeleton robot. Architecture design includes matching body design, human-computer interaction design and security design. The adaptive dimension design means that the rehabilitation exoskeleton robot can be adjusted according to the size of the wearer’s body, human-computer interaction design also known as strapped design contains the binding position and binding material selection.Obtain the lower limb movements of different individuals through the experimental method as the basis of adjustable bionic knee joint design in order to solve the problem of multi-axis prosthetic knee design without taking into account user individual differences.Design the adjustable bionic knee joint. This joint can make the exoskeleton knee movement and the wearer’s knee movement achieve a perfect match depending on the wearer’s knee instantaneous center rotation(ICR) difference. Bionic knee better than the traditional single-axis knee by comparing the reaction force of the human leg.