The Structure Design And Gait Pianning Of The Lower Limb Exoskeleton Power Assist Robot

In today's society, more and more people pay attention to human body movement dysfunction, which is mainly divided into the upper and lower limb disorders. For those who have lower limb dysfunction, they are likely to lose the feeling of injured limb and motor function, of course, they would recover only with the timely treatment, but due to the lack of necessary knowledge of rehabilitation, patients may lose sensory and motor function forever. In this context, we need a kind of automation rehabilitation equipment to help patients do rehabilitation training and Recovery training.Since the beginning of 90's in last century, the robot technology was constantly applied to the rehabilitation of stroke patients, and many institutions had developed a variety of robots for lower limb rehabilitation and joint rehabilitation. Compared with the traditional rehabilitation training, the new technique can not only liberate the medical personnel from the heavy treatment process, but also provide patients with more reasonable rehabilitation training methods through inputting quantitative exercise. This method has great potential and superiority of training effect, more importantly, it can provide a platform for the research and rehabilitation mechanism.According to the research status and functional requirement of such projects, with the analysis of the biological properties of the human body, and also with the reference to the similar equipment at home and abroad, I finished the preliminary design of the basic mechanism, then I completed the three-dimensional modeling using Solid Works, after achieving structure refinement and check of the key part, I processed and assembled all of the parts with the assistance of the workers, the analysis and calculation of kinematics and dynamics was necessary. In order to make it stable and reasonable, gait trajectory planning which using the numerical method is an important part of my paper. To verify the conclusions, we arranged human experiment and obtained satisfactory results.