Design And Study Of Sitting Rehabilitation Mechanism For Coordinated Training Of Limbs

Due to the aging of the population,stroke and disability and other factors,patients with limb motor dysfunction are increasing year by year.While the corresponding medical rehabilitation personnel and equipment can not meet the needs of rehabilitation.In order to reduce the working intensity of nursing staff,improve the chances of receiving rehabilitation treatment for patients and quantify the indicators of rehabilitation training,rehabilitation robot arised.Based on research status of limb rehabilitation robot at home and abroad and the theory of rehabilitation movement,combined with the physiological structure of human body and the law of limb movement when working,a combined type rehabilitation training mechanism with a single degree of freedomwas proposed.Specific work are as follows:Firstly,the safe range of motion was analyzed under the condition of sitting posture in which the human body size and the degree of joint activity were limited.Through the experiment to explore the movement law and trajectory of the main joints when walking,the theoretical basis for the mechanism design was provided.Finally,a combined type rehabilitation training mechanism with a single degree of freedom was proposed,which is composed of the crank slider mechanism and the RRR level two bar group.Secondly,the D-H method was used to establish the coordinate model of the parameters of rehabilitation training mechanism.Then the kinematics analysis was carried out to obtain the main parameters of affecting the trajectory.Next the ADAMS software was used to analyze the influence of size parameters on the trajectory.Through single factor analysis and orthogonal experiment,a set of optimized basic size parameters was obtained.Then,the man-machine model was studied deeply.Firstly,the corresponding joint movement rules under different training parameters was analyzed to provide a reference for effective quantitative rehabilitation training for patients.Secondly,the PI control scheme was proposed to realize uniform training for patients.The stress and deformation of each member during the training period were analyzed,which provided a theoretical basis for the later structural design.Finally,based on the above analysis and demonstration of the parameters of the connecting rod,the physical prototype of the unilateral rehabilitation mechanism was developed.The training track,the joint angle and the coordinated movement experiment were carried out.The experimental results show that the rehabilitation mechanism is reasonable,and can achieve the body rehabilitation training in the sitting posture,and can meet the needs of personalized rehabilitation.