The Structural Design And Simulation Analysis Of Lower Limb Rehabilitation Exoskeleton Robot

The wearable exoskeleton robot for walking aids is a kind of humanoid service robot that can assist older people or patients who have problems with lower limbs in walking, and also a kind of medical rehabilitation robot for patients with walking disabilities led by injury of central nervous system. The rehabilitation training devices have been upgraded as a national strategic research project and been getting more and more emphasis. The paper focuses on the key technical issues research of exoskeleton robot biomimetic architecture and it's rationality, the specific contents are as follows:Firstly, The paper is based on the theoretical basis of human anatomy and kinesiology to research the human lower limb structure and the basic features of normal walking and stand up sit down movement, which provides theoretical support for the entire bionic structure and it's rationality.Secondly, The structural design of robot adopts a horizontal contrast analysis methods. By comparing the advantages and disadvantages of different power sources and power structures, and combined purpose of the robot, the best program which can achieve bionic campaign is elected. In addition, the entire exoskeleton robot 3D models is built on human lower limb structure.Thirdly, Based on Adams software, this paper makes the exoskeleton robot a simulation analysis of walking and standing up sitting down to finish a reasonable analysis of structural design. Specifically, through kinematic analysis to validate if the design of the structure is able to realize walking and standing up and sitting down movement. Through dynamic analysis to verify the reasonableness of the choice of the motor, while analyzing the force characteristics of gait and stand up sit down movement simulation to provide a theoretical reference for the gait design of subsequent wearable experiments.Finally, this paper shows a prototype, describing operational mechanisms and wear testing and analysis of the experiment, which is divided into normal wearable experimental test and lower limb disabilities experiments. Through a series of laboratory tests to verify the safety of the exoskeleton robot, reliability and stability.