Research On Mechanism And Training Mode For Lower Limb Rehabilitation Robot With Wire-driven

Rehabilitation robot has made prodigious contribution for improving living quality of the patients with exercise functional disorder.Ideal rahabilitation effectiveness is attained by lower limb rehabilitation robot simulate healthy gait.Patients who suffered from exercise functional disorder have different levels of injuries for their muscles and joints.However,the mechanism of lower limb rehabilitation robot is rigidity,and the training schedule is complished by gait movement mostly.So the rahabilitation effectiveness for those who had suffered from the injury of the deep muscle group located in inner side thigh and hip is not quite obvious.Therefore,the study has great significance aim at rehabilitation robot and its key technologies.This project is supported by National Natural Science Foundation of China(NSFC)project,Mechanism and Training Mode of Rigid-Flexible Robot,and Harbin Innovative Talent in Science and Technology of Special Funds project,Research on Mechanism of Rigid-Flexible Coupled Lower Limb Rehabilitation Robot.The main studies are as follows.It is analyzed that the function and interrelation of musculoskeletal lever model consist of lower limb's muscles and joints in different states of human gait.The movement locus of lower limb is discussed when D-H method is employed in building positive and inverse kinematic model.And then,the mechanism of 2R3 T of rigid-flexible coupled robot is introduced.Controllable workspace of mechanism is researched.In view of the possibility that patients' ankle joint may be injured by the connection of the rehabilitation robot's wires.A bind device is specially designed.Through analyzing the trajectory of the point of patients' lower limb terminal which coincides with robot's moving platform center of the bind device during adduction-abduction training,motion planning for robot's moving platform and rigid chine are proceeded.Combined with the calculation method of wires,the change law of the length,velocity and acceleration of each wires are attained on the basis of motion planning.Under this circumstance that the gravity of driven lower limb and bind device is considered,static equilibrium equation about robot is established and the stress of each wires are analyzed.Patient's musculoskeletal model with exercise functional disorder is built with the help of LIFEMOD software.On this basis,robot's driven scheme is determined by comparing single driven point with various driven points.The superiority of adduction-abduction and flexion and extension is studied according to patients' different requirements during rehabilitation training.In addition,the trajectory of patients and healthy person in adduction-abduction training is analyzed.Finally,an active-passive training mode with PID algorithm is adopted to improve the phenomena of the weak promotion for patients' muscle strength in passive training and the anamorphic trajectory of driven lower limb in active training.