Optimization Design Of Exoskeleton Rehabilitation Trainng

The exoskeleton robot is a wearable intelligent mechatronic system.It can be used as a result of the movement of the wearer to obtain movement information,or through the exoskeleton's own power device to enhance the wearer's body function.Nowadays,the technology of lower limb exoskeleton not only plays an important role in the military field,but also makes outstanding contributions in the field of medicine.At present,the lower extremity exoskeleton system is moving towards integration,function,diversification,public and practical improvement goals,also involves many aspects of the subject,has been favored by academia and industry.In this study,through the deep study of the exoskeleton robot,the design of the rehabilitation training of lower extremity exoskeleton system by using the principle of bionics.The 3D structure model is established by using Solidworks software.This design is mainly for lower limb rehabilitation training on exercise capacity in patients with leg loss caused by stroke,including the overall weight support of three parts system,power system and virtual exoskeleton motion system.The weight loss support system is used to reduce the weight of the patient.Exoskeleton booster system uses hydraulic control.In the two aspects of the structural design of the human body size as the design basis,fully embodies the humanization of the design.In this paper,the ANSYSWorkbench software is used to analyze the weight loss support system.And the reliability of the structural design and the rationality of the material stiffness are verified.At the same time,the kinematics and dynamics of the human lower limb were analyzed by combining the human anatomy and human kinematics,and the design data of the control system was obtained by using Matlab/Simulink software.This paper focuses on the use of AMESim software to design the hydraulic system schematic,and according to the data above,a reasonable hydraulic servo control system is designed and the correctness of the selection of the actuator is verified.Through the use of Matlab/Simulink software to optimize the control method,that is to design and compare and select the optimal control method.Finally,the hydraulic servo control system is verified by the simulation of Simulink and AMESim two platforms.At the end of this paper,we summarize the whole thesis,and prospect the further research and application prospect of lower limb exoskeleton.