Study On The System Of Bed Type Robot For Lower Limb Rehabilitation

In recent years, the incidence of cerebrovascular disease with high disability rate is very high; the quality of life of patients is very heavily affected. The cerebrovascular disease is becoming younger, brings great sufferings to the patients and their families. Studies show that rehabilitation therapy for the patients early in the disease can promote the remodeling of the brain, so that patients can learn and relearn a skill. But the process of rehabilitation therapy is long and largely depends on human resources, so that it results psychological guilty which is harmful to the patient's condition. Evaluation of traditional treatment of patients is very subjective, can not guarantee the rehabilitation effect of patients.Because of the recidivity of the stroke, make the patient's physically and mentally tortured.In view of the above problems, combining with the research status at home and abroad,this paper designs a rehabilitation training robot combination with a rehabilitation bed. The robot can make patients lying in bed as far as possible, just choose a training mode, and then they can achieve rehabilitation training purpose in the bed. The robot does not feel fatigue and can accurately and repeatedly to complete a task with high stability. It greatly reduces the loss of human resources, thereby increasing the patient rehabilitation confidence.Plan the rehabilitation robot's motion space according to the human physiological characteristics to ensure the safety of patients in the training process. Based on meeting the requirements of the human body physiology, we put forward the overall schemes design of lower extremity rehabilitation system in this paper, including the general structure design,driving scheme design, control system design and the hardware circuit design.Set up the kinematics model of lower extremity rehabilitation system with closed loop vector method and do the kinematic simulation analysis for the model using MATLAB software, set up the dynamic model of lower limbs rehabilitation system using the Newton Euler method and carry on the simulation analysis.Lastly, make the prototype and do the experiments. The experiment includes space experiment, load experiment and velocity planning experiment. The space experiment shows that the maximal exercise space of the prototype can meet the design requirements. The load experiment shows that the training speed of the prototype can meet the requirements under different load conditions. The velocity planning experiment shows that the motor planning control can reduce the sample impact in the process of start and stop or switch directions.