The Structure Design And Analysis Of A New Lower Limb Rehabilitation Robot Realizing The Approximate Normal Gait

As the number of people with lower limb dyskinesia is growing, the demand for lower limb rehabilitation is larger, this paper studied the normal gait, rehabilitation trajectory plan, structure design and the manufacture of rehabilitation prototype to design a cheap but adjustable lower limb rehabilitation robot suitable for home users with active and passive training instead of expensive ones abroad with the support by the National Natural Science Foundation of China. The main contents and achievements are as follows:It introduces medical research on the plasticity of human nervous system, normal gait briefly and the achievement of normal gait trajectory. The former provides a theoretical basis for the design and manufacture of lower limb rehabilitation robot proves the theoretical feasibility of lower limb rehabilitation; The latter supports the design of rehabilitation mechanism by studying the pattern and data of normal gait.We study the influence on the major muscles of lower limbs of different gait trajectories. We design three mechanisms that can achieve different trajectories based on the gait trajectory of normal people achieved through experiments and use Solid Works to build three dimensional models; Then, we build human model according to the model in Life MOD; We coordinate it together with three dimensional models and get the results of the change in stretch tensors of the major muscles of lower limbs through computer simulation. We use MATLAB to analyze the results and achieve the influence of different gait trajectories. According to the results and the reasonability of the structure, we determine the structure of the prototype.We design rehabilitation mechanism and carry out kinematics simulation. We analyze slider-crank mechanism by complex arrow and get the expressions of the displacement, velocity and acceleration. We design the structure of slider-crank mechanism and choose main components. Then, we use Solid Works to build the model and kinematics simulation. Compared with the theoretical analysis, it proves that the simulation is right.We draw engineering drawings of the prototype and experimental prototype device was constructed. In order to manufacture the prototype, we draw 2D drawings according to national standard. The factory machines parts and assemble them together according to the drawings. The next step is to do the experiment.