Research Of The Lower Limb Single Joint Rehabilitation Exoskeleton With Complex Lasso Artificial Muscles

Single joint lower limb rehabilitation device is an intelligent medical device,according to the rehabilitation needs of patients with joint or muscle injury,doctor can set the corresponding rehabilitation mode,instead of a physician to repeating the rehabilitation work for a long time.The goal of this project is to design the wearable single joint assistance rehabilitation device with human muscle characteristics,which includes hip and knee rehabilitation device.Aiming at the subject,this paper explores it from the following aspects:The physiological structure of human hip and knee joint is analyzed through the single joint anatomy.OpenSim is used to quantitatively analyze the muscle group in human gait process.Combined with the Hill muscle model,the configuration scheme of the overall structure is determined,and two lightweight,portable knee rehabilitation devices with double lasso artificial muscle are designed,which is in accordance with human kinematics and bionic characteristics.According to the control strategy,the system hardware and sensors are selected.In order to analyze the kinematic characteristics and the dynamic characteristics of the hip/knee joint rehabilitation device,the dynamic model of structure device and lasso artificial muscle structure is built in Simulink,the closed-loop feedback control system model is built in Simulink to verify the following response characteristics of the system using the normal gait data as a signal input.Human joint torque characteristics will differ in the power training mode and impedance training mode,according to the joint torque characteristics and the feedback data of terminal sensor,design the closed-loop feedback control system in the Simulink.The PID,fuzzy control algorithm and impedance control algorithm were processed in the corresponding simulation model which can provide the power or impedance.The fuzzy PID algorithm with two inputs and an output is designed to realize the servo relationship between the exoskeleton and the human body.Verify the feasibility of the device using Neuron.Establish a periodical power control strategy,and finally evaluate the effect through EMG signal.