Research On Lower Limb Rehabilitation Robot Based On Imitating Muscle Wire-drive

Nowadays,with population growth,the number of patients with ambulation dysfunction is raising.Lower limb rehabilitation robots are created for use to improve the patient's athletic ability and motor function.Wire-driven rehabilitative robot has the advantages of good flexibility,convenient layout and well-adapted is different from the traditional rehabilitative robot which is more rigid.Wire-driven rehabilitative robot is widespread used.Therefor it is meaningful to study the driven device and the system of wire-driven lower limbs rehabilitative robot.This project is supported by the National Natural Science Foundation of China(51405095),Technological Innovation Talent Special Fund of Harbin(2014RFQXJ037)and the Scientific Research Starting Foundation for Post-doctoral Scientists of Heilongjiang(LBH-Q15030).The main researches on the paper include:Firstly,according to the characteristics of human lower limb movement and composition,the lower limb model including total knee joint model and simplified lower limb model was established.Comparative analysis of gait simulation is studied.And found the lower limb included the total knee joint is verified,and pointed out the shortcomings of the simplified model of the knee.For the lower limb dysfunction patients with muscle strength and muscle length are insufficient in gait movement put forward the appropriate training methods and simulation verification.Based on lower limb movement and training methods to design the lower limb rehabilitation robot.Not only can make patients do single joint flexion and extension movement,but also enable patients to do more flexion and extension movement.Secondly,the composition and working principle of human skeletal muscle are described in this paper.A muscle mechanics model is established according to the Hill model.Two kinds of bionic muscle wire-drive devices are establish from the perspective of bionics.And mathematical model is establish and analyzed,then according to the comparison of the results from different perspectives,a more reasonable configuration is selected as a rehabilitation robot wire-drive devices.Moreover,combined with bionic muscle wire-drive device,build robot static equilibrium equation.Based on static mechanics,the stiffness of the robot is studied.The first and secondstiffness of the robot system are defined and analyzed.Lower limb model which include total knee joint is driven to complete gait motion.The motion track of the sagittal and vertical axes of the ankle joint are fitted.Analysis of the wire-drive device and a rigid branched position in gait,velocity and acceleration.For the gait movement trajectory,the first stiffness,second stiffness and the overall stiffness of the system are analyzed.Finally,IPC,drives,motion control card and data acquisition card and other components used to establish a control system which include motion control,data measurement and data collection.Completed the bionic muscle drive verification experiment in the position mode,experiment of driving in the torque mode and the biaxial linkage experiment under specific trajectory.The results verify the rationality of the wire-driving device.Can meet the rehabilitation training in the force and track requirements,and increasing the flexibility of the system,security,and adaptability to the patient.