Research On Walking Rehabilitation Training Robot And Gait Evaluation Method

In recent years, the number of patients having trouble with walking increases year by year. Unlike traditional rehabilitation training, walking rehabilitation training system can reduce the labor intensity of physicians, have good training repeatability and assess the effectiveness of rehabilitation training, so it has been widely concerned. By working with Zhejiang University, we study the over-ground walking rehabilitation training system which can support partly body weight of the patients deeply. The main contents are as follows:Through analyzing the advantages and disadvantages of over-ground walking rehabilitation training systems both at home and abroad, we determine the design scheme of the subsystems of the over-ground walking rehabilitation training system. By analyzing the size and structure of the lower-limbs of adults, through the mechanical calculation, we determine the basic sizes of the key components of the over-ground walking rehabilitation training robot. Finally, we create the 3D modeling of the robot using SOLIDWORKS and manufacture prototype of the robot. In order to control the movement of the robot accurately, the chassis control system adopts PID closed-loop control. And the stepper motors of the weight loss system adopt open-loop control. Through two subsystems coordinated control, the robot can realize passive training mode.Using the wearable force sensors which were developed by Zhejiang University for gait detecting, we conducted the precision calibration experiment. The experimental results showed that the wearable force sensors measured accuracy is high, the ground reaction forces and moments are effective. On the basis of the precision calibration experiment, we carried out gait training experiment using the over-ground walking rehabilitation training system. Through analyzing and processing of the experimental data, we got the key gait parameters of lower-limbs of the normal and abnormal. The results showed that the wearable force sensors can be used for the quantitative gait analysis in the process of rehabilitation training.The over-ground walking rehabilitation training system developed can be used for passive rehabilitation training and can assess the effectiveness of the rehabilitation training. What's more, the system is suitable for using in family, community and hospital, and has a good application prospect.