Research And Implementation Of A Lower Limb Rehabilitation Exoskeleton For Paralyzed Individuals

The lower limb rehabilitation exoskeleton is a robot designed by multidisciplinary,including mechanical engineering,electronic engineering,biomedical,human bionics,artificial intelligence,sensing detection,etc.This exoskeleton enables patients to act in both conscious and unconscious control using various sensors supported by signal acquisition,micro-computer and other robot technologies.This device provides paralyzed patients with functional helps,such as auxiliary assistance,body protection,body support,balance maintenance,etc.The objective of this research is to study and develop a lower limb rehabilitation exoskeleton that can support daily activities,including walking,standing,sitting,climbing up and down stairs,for paralyzed patients.To ensure the core issues of exoskeleton freeness distribution,joint movement angles,and the driving mode,this research studied the physiological mechanism,movement mechanism,and driving mechanism of the human lower limb on the basis of human lower limb anatomy.Moreover,a special exoskeleton for measuring the lower limb movement data is designed after reviewing the existing motion data measuring methods.Measurement experiments are performed to collect the lower limb movement data under different scenarios for further analysis.In addition,the general requirements for the structural design of the lower limb rehabilitation exoskeleton are put forward according to the obtained experimental results.Three-dimensional models are built and completed force analysis for each joint structure based on the proposed structure design.Finally,performance evaluation experiments are implemented for the designed lower limb rehabilitation exoskeleton.The performance evaluation experiment consists of the trajectory tracking experiment,the exoskeleton angle response test,and human trials with the objectives to verify trajectory tracking characteristics,response sensitivities,and practical reliability of the organization,effectiveness and stability.