Study Of Structure And Online Gait Planning Method On Exoskeleton Lower Limb Rehabilitation Training Robot

The lower limbs in patients with motor dysfunction caused by the increasing trend of aging, traffic accident and kinds of disease(especially stroke and SCI) are increasing more and more. This brings a huge burden to their family and society.Most of these patients show symptoms of hemiplegia. The healthy limb in hemiplegic patients has the ability to move, limb remnant of athletic ability differs from man to man.The rehabilitation process giving full play to the role of hemiplegic patients with limb movementability and can make the residual limb rehabilitation training according to the gait parameters of the healthy limb rehabilitation training is an ideal mode. To achieve this goal, first of all is to get the gait model of the healthy limb movement and gait planning of the affected limb. This paper proposes a study of lower limb paralysis for gait rehabilitation robot exoskeleton structure and detection technology.This paper describes the background and significance of the subject, and the status of research in rehabilitation robot. Studies the characteristics of human walking, analyses the joints in the human lower limb of function and range of motion of walking, determines the joints that play a major role in walking and walking-related sites of different lower limb.Considers the interaction between the robot and the human body, studies robot and human connection location and connection mechanism, analyses the layout of support mechanism,the transmission mechanism, actuators and sensors and so on. On this basis, using Pro/E three-dimensional design software designs a new four degrees of freedom comfortable lower extremity exoskeleton rehabilitation robot which can help patients walk in situ training.Analyses the impact of human gait parameters during walking gait of the human body;Studies the relationship between gaitparameter and related joints, speed, angular displacement; Puts forward the gait planning method of human online, Curves fitting using least squares, establishes a joint movement speed and angular displacement of the independent variable, dependent variable on the time about the healthy limb gait model of the human body and tests the gait of limb based on the model.And then finds the position error between the actual position limb and the desired position, as the basis of control system to compensate for.Creates the exoskeleton lower limb rehabilitation training robot human-machine interface in the Visual C++6.0 environment and conducts the data acquisition and error experiment; Achieved the value and fitted value of angular displacement of the three joint in healthy limb and the position error between the actual position and the desired position,proves the reliability and effectiveness of the gait planning method.