Structural Design And Simulation Of Wearable Lower Limb Rehabilitation Robot Based On Exoskeleton

As a product of rehabilitation engineering,rehabilitation robot can guide the body to do a variety of specified repetitive rehabilitation training to assist limb to restore its motor function,it has been rapid development in recent years.But most of its research was focused more on the design of the leg mechanism than waist mechanism.In view of the shortcomings of the existing rehabilitation robots which is simple and can't simulate movement of human waist,this paper makes the integration design of lower limb rehabilitation robot waist and leg mechanism to meet the integrity and comfort requirements based on human engineering.First,according to the characteristics of bone and bone linkage in human lower limb based on human anatomy,the freedom distribution of the waist and leg mechanism joints of lower limb rehabilitation robot were established.The equations of waist motion and curve of the leg joints was obtained by the statistical analysis of normal gait of human lower limbs to provide the theoretical basis for the structural design of lower limb rehabilitation robot.The different characteristics and training of each rehabilitation stages of lower limb paralysis patients were studied.A variety of rehabilitation training models of lower limb rehabilitation robots were established by the different training requirements which includes single degree of freedom movements,combined movements and walking movements to penetrate the rehabilitation training function of the lower limb rehabilitation robot into the whole rehabilitation treatment process.The anthropomorphic integration design of the waist and leg mechanism of lower limb rehabilitation robot which includes waist and leg mechanism and suits for different people was made based on various rehabilitation training models.According to the rehabilitation robot design scheme,the 2A12 aluminum alloy material of the lower limb rehabilitation robot and the drive mode of servo motor was determined with the 24V Lithium-ion battery,optical incremental rotary encoder,limit switch and cable encoder.The kinematic model was established to further determine parameters of the lower limb rehabilitation robot waist and leg mechanism.The virtual prototype of the lower limb rehabilitation robot waist and leg mechanism was built by ADAMS software to simulate the whole system.The simulation results show that the design of the waist mechanism of lower limb rehabilitation robot can fit waist movement characteristics when people walks,and the leg mechanism can work well on different rehabilitation training models.The lower limb rehabilitation robot includes waist and leg mechanism was designed,and simulation results show that the mechanism can fit the human lower limb movement to drive patients completing rehabilitation training which meets the target requirements.