Mechanical Design And Development Of Virtual Reality Training System For Lower Limbs Rehabilitation Robot

This paper introduces the mechanical design of a reclining lower limb rehabilitation robot and design a virtual training system.The rehabilitation robot for the three degrees of freedom joint structure,leg width and leg length are free to adjust,with three degrees of freedom seat mechanism can achieve the patient's handling.The virtual training system is mainly composed of riding training mode and virtual software system.The riding training mode simulates the movement posture of the human body when riding a bicycle.It is a kind of variable speed active training under the constraint trajectory.The virtual software system builds an outdoor ride Line of training scenarios,which achieved the model action synchronization and the scene with different feedback mechanism.First,the mechanical design of the recuperating lower limb rehabilitation robot is introduced.Mainly from the mechanical legs,adjustment platform and three degrees of freedom seat mechanism of the three aspects of a detailed introduction.And briefly introduced the rehabilitation robot equipped with the sensor system equipment and control system hardware.Secondly,the kinematics and dynamics of the recurrent lower limb rehabilitation robot were analyzed.It mainly includes the positive solution and inverse solution of kinematics,the solution of variable working space,and the planning of end trajectory.The prediction of the movement expectation of the lower limbs of the patients was carried out.Two kinds of prediction schemes were developed.Introduced the riding training mode control strategy,completed the riding training mode design.Then,the virtual reality technology is used to build the outdoor riding scene and the interactional feedback mechanism is designed.Combined with virtual reality scenes for rehabilitation training,on the one hand can give patients multiple sensory stimulation,the other side of the mental health of patients also have great benefits.The interactional feedback mechanism can realize two-way feedback between robots and virtual scene the main performance of real-time synchronization model for virtual characters of leg movements and mechanical leg movements,and the robot can make the corresponding reaction obstacle of the virtual scene is different.Finally,through experiment validates the verification of the planning trajectory and tests the robot execution ability.The algorithm of motion expectation prediction is verified,and the feasibility of riding training mode is verified,and the interactional feedback mechanism is verified.