Research And Design Of Lower Limb Rehabilitation Robot

Medical rehabilitation training robot is one of the typical applications of the robotics system in the medical rehabilitation area.The application of the robotics system is capable to make medical rehabilitation become automation,modernization and standardization,which has the significant benefit for establishing the regulations/standards of medical rehabilitation,and then improving the treatment effect through setting up the fundamental medical rehabilitation database.The lower limb rehabilitation robot,a typical medical rehabilitation robot,is to train patients with lower limb dysfunction following a normal gait schedule.Therefore,the patient through this kind of treatment can recover his/her walking ability gradually,and finally obtain the normal stepping capability.The key research topics in the lower limb rehabilitation robot field will be summarized based on the extended review of the available paper in this area,firstly.Then,the driving method,dimension of the lower limb rehabilitation robot will be established based on the knowledge of the working principle of the robot and the biomechanical engineering.Finally,a novel lower limb rehabilitation robot design will be proposed considering the requirement of robotic working principle,lightness,simplicity of the structure,and the research purpose.The mathematic model(kinematics and dynamics equations)of the proposed lower limb rehabilitation robot will be established based on the knowledge of the robotic principle and the Lagrange' principle.The validity of the established equations of motion and the simulation model(Matlab/ SimMechanics)has been verified through the virtual prototype designed based on the ADAMS environment.Then,the investigation of the trajectory of the ankle joint(node),the rotation angle of the hip/knee,driving stroke/force/torque,and the disturbance of the hip movement will be presented based on the above model.Moreover,the detailed mechanical design scheme will be presented and the control platform designed based on d SPACE system has also been settled up,which is ready to the experimental investigation for the further research.