Research On Human Joint-assisted Motion Device

The human joint-assisted motion device is an exoskeleton robot that can gradually recover and regain limb motor function for patients who are unable to exercise due to nerve damage or physical injury.This device's emerging is a combination of mechanical,electronic and computational science and applied to the field of medicine exoskeleton robots which enable patients to complete their rehabilitation training anywhere,meanwhile freeing therapists from heavy manual labor and devoting more energy to rehabilitation plans and analysis of rehabilitation indicators to ultimately improve the speed of patient recovery.This project developed a wearable rehabilitation equipment for the symptoms of ankle joint such as foot drooping,pedicles,varus and so on.The main research contents and methods are:l)The subject consults the papers which research on the rehabilitation system of the ankle joint,and focuses on the pressure distribution of the plantar when walking,so as to customize a reasonable pressure collection point.2)According to the characteristics of ankle joint movement,a hardware environment composed of a power system(linear motor and motor driver),an acquisition system(pressure sensor and acquisition module),and a control system(embedded processor and CAN bus)is designed.3)Combined with the collected data,a motion prediction model(Relevance Vector Machine)was established by using data modeling method.And using Visual Basic,Python and C language to complete the design of software,such as control strategy,communication protocol,prediction model and PC interface.4)Completed a series of basic functional experiments based on the human joint-assisted exercise device,which verified the feasibility and functionality of the system.The ultimate goal of this research is to enable patients with ankle dysfunction to wear equipment to walk autonomously and smoothly,perform functional repetitive rehabilitation exercises and eventually restore the motor function of ankles.The successful establishment of the prototype and the realization of its functionality laid the groundwork for future research scientists in this direction,providing experimental platforms and practical experience.