Research And Realization Of The Lower Limb Gait Rehabilitation Training Robot

Lower limbs gait rehabilitation training robot is a kind of application which is used in medical gait rehabilitation by exoskeleton robot technology.According to different patients,it can make different gait rehabilitation training,to help hemiplegia patient by means of robot in gait rehabilitation treatment to achieve the effect of lower limb movement ability,by introducing advanced automatic equipment which has the characteristics of high accuracy and fast response to the field of medical rehabilitation,and through the large data analysis and the standard of the gait rehabilitation training database,lower limbs gait rehabilitation training robot are likely to solve the disadvantages of traditional artificial auxiliary gait rehabilitation training such as high labor costs,no obvious effects,gait cycle is not uniform and so on,so it will improve the quality and efficiency of patients' gait rehabilitation training,at present,the lower limb rehabilitation training robot has become one of the hotspots in the field of medical robot.Firstly,this article analyses and research the domestic and foreign development trend of the lower limb gait rehabilitation training robot,to establish the research content and research route,and difficulties in the field of lower limbs gait rehabilitation training robot,and through the analysis of the characteristics of human lower limb movement mechanism and joint motion form,combining with related data calculation,to design a linear drive system which could be to more close to the muscles,Finally to make the design of the robot's overall plan,through Solidworks software to complete the design of experimental prototype which accord with human body movement robot and suitable for different groups,and finished the processing of the experimental prototype.Based on the experimental prototype of robot to set up the lower limb gait rehabilitation training robot of kinematic mathematical model and dynamic mathematical model,On this basis,formulating the experiment to verify the theoretical model,and the use of dSPACE real time simulation system is to set up the hardware platform and real-time software operating platform of lower limb gait rehabilitation training robot control system,according to the characteristics of the lower limb gait rehabilitation training robot dynamics model,analyzing the dynamic characteristics of lower limb gait rehabilitation training robot by experiment,it provides reference for the design of the control scheme.On the basis of the lower limb gait rehabilitation training robot's characteristics of nonlinear,strong coupling,and so on,to formulate robot control strategy and finished the design of the controller in dSPACE system platform,in the case of no-load and load respectively,use the experiment prototype to make different trajectory tracking experiments,and through the comparative analysis of experimental data,to test and verify the reliability and functional of lower limb gait rehabilitation training system,it provides the necessary theoretical basis and practical experience for developing lower limb gait rehabilitation training robot to maturity of lower limb gait rehabilitation training robot products.