Design And Performance Resesrch Of An Exoskeleton Lower Limb Rehabilitation Robot

The paper is designing a kind of lower limbs rehabilitative exoskeleton robot and analyzing its main performance to improve the undesired structure,finishing the prototype and determining the control strategies on the basis of investing human gaits,research progress at home and abroad and rehabilitation needs.The main contents of the paper and the results are summarized as follows:We analyzed the research progress of lower limbs rehabilitative exoskeleton robot and did motion capture test,so we determine the rule of the lower limb motion,and then we simplified the lower limb into two DOF linkage in the sagittal plane so as to determine the basic structure of the exoskeleton legs and drive mechanism.Through the study of the normal gait,we designed a kind of lower limb rehabilitation exoskeleton robot and completed the calculation and design of the key components and build the 3D model in SolidWorks.With the human normal gait data obtained in motion capture test as input,we analyzed the 3D model in kinematics,dynamic and static.We ensure the structure of exoskeleton legs can meet the design requirements using kinematics analysis,for example,we can ensure there is no colision and the screws are long enough to meet a normal walking cycle.Through dynamic analysis we can determine the relationship between torque and joint angle,and select the suitable motor on the basis of analysis.We can also determines the force and deformation of the main components and the whole mechanical legs by using static analysis,and optimize the unreasonable structure,such as the supporting frame,so we can ensure that the key components will not be failure,damage or have a greater shock while walking.We finished enginerring drawing,purchased and machined the parts based on the 3D model and completed the prototype production.Besides we determined the control way and realized waliking movement.