Study On Key Technique Of The Gait Rehabilitation Training Robot

After the in-depth analysis and research on the current development of lower limb rehabilitation training robots at home and abroad, it was found that the lower limb rehabilitation training abroad had a wide range of applications, while the relatively high price, and the different cultural background and body parameters were not suitable for domestic residents. Based on Chinese national conditions, a lower limb rehabilitation training robot was designed for domestic residents, with independent intellectual property rights and applicability. Then some key technologies of the lower limb rehabilitation training robot were studied.First of all, a series of measures were conducted, laying the foundation for the realization of the gait feature data quickly and accurately, concluding the analysis of the principle of anatomy, the definition of human gait features, as well as the summary of the data processing methods. This paper used the motion suit Xsens Moven to measure the relative parameters of the gait characteristics of domestic residents. On the basis of the research on the technology of the equipment, the method were determined for the establishment of local coordinate system、coordinate transformation and the extracting of related gait feature data. The correctness and feasibility of the method were verified by experiments, and the implementation methods and precautions of gait feature measurement were summarized.Secondly, the related experimental data could be acquired by the movement data processing method such as activity, speed and acceleration of the upper and lower extremity joints. Studying the Change rules of displacement、motion、velocity and the acceleration of lower extremity joints,the mathematical model was established. In order to verify the correctness of the mathematical model, the residual analysis of the related mathematical models was carried out, and the mathematical model was proved to meet the requirements of human gait feature modeling.Finally, this paper designed a kind of lower limb rehabilitation training institutions on the basis of the characteristics of the gait of the Chinese people, which was suitable for domestic residents. And the analysis of the forward and inverse kinematics, statics and simulation proved the feasibility the mechanism.The research content of this paper could provide theoretical basis and technical assistance for the establishment of Chinese gait feature database and the design and control of the lower limb rehabilitation training robot.