Research On The Lower Extremity Rehabilitation Exoskeleton System Deiven By Pneumatic Muscles

Our country has gradually entered the aging society,in the meantime mobility disorders and dyskinesia is also becoming more common.Clinical research and practice have proven that lower limb rehabilitation training is of great significance to the recovery of walking ability of lower extremities.Pneumatic muscle is a kind of flexible drive element,with the advantagees of safety,flexibility,no pollution and low cost.In this paper,we have done some research on a kind of lower extremity rehabilitation exoskeleton system driven by pneumatic muscles.First of all,Based on the research of the geometric parameters and movement mechanism of human lower extremity,the paper presents a lower extremity rehabilitation exoskeleton system.According to the statistics of the distribution of lower limbs among adults in China,we determined the geometric size and adjustable range of the lower extremity exoskeleton;Based on the range of lower limbs joint angle during walking,we confirmed the type of the Pneumatic Muscle Actuator.We use the ANSYS Workbench to do strength analysis of parts and verify structural strength reliability.Secondly,the paper has completed the kinematic analysis of extremity exoskeleton according to the D-H method.The kinematics equation is established to complete the positive kinematic solution of the exoskeleton according to the geometric relationship of lower extremity exoskeleton.Based on the Lagrange equations,the dynamics equations of the lower extremity exoskeleton are established.We use the ADAMS to complete the dynamics simulation and gait simulation of the lower extremity exoskeleton.Thirdly,we build the control system hardware platform,design the drive circuit board and the angle signal acquistion circuit board.We completed the preparation of the control program and the control interface program.We conduct the verification experiments to verify the feasibility of the control system.In the end,Based on the lower extremity rehabilitation exoskeleton system and the Holden walking ability classification,this paper presents two rehabilitation training strategies.Finally,we carried out the passive rehabilitation training experiments and the active rehabilitation training experiments.