The Design Of A Lower Limb Rehabilitation Exoskeleton Drived By Tendon-sheath Artificial Muscle

The lower limb rehabilitation exoskeleton,which can help patients with loss of walking ability support rehabilitation training,restore their lost athletic ability.The tendon-sheath artificial muscle drive is a new transmission mode based on the Hill muscle model and tendon-sheath model theory,the goal of this research is to design the lower limb rehabilitation exoskeleton which can provide rehabilitation training and daily life assistance.Firstly,the human lower limb movement mechanism and the theory of Hill muscle model as well as the tendon-sheath artificial muscle model is researched,a lightweight joint data acquisition system for measuring the lower limb movement data is designed.Secondly,based on the research of the lower extremity mechanism and the theory of the tendon-sheath artificial muscle model,the general requirements for the structure of lower limb rehabilitation exoskeleton are put forward,and the distribution of the degrees of freedom of the exoskeleton joints is analyzed in detail.Based on the tendon-sheath artificial muscle transmission model,Three-dimensional models are built,and tendon-sheath transmission path optimization theory is studied.In addition,lower limb rehabilitation is modeled and analyzed.Based on D-H coordinate system,the joint coordinate system and forward kinematics model are established,and the movement space of exoskeleton is analyzed by geometrical method and Monte Carlo method.Then,based on the theory of tendon-sheath transmission and double tendon-sheath transmission,the tendon-sheath artificial muscle models is researched.Finally,the lower limb exoskeleton system is described.The performance evaluation experiment consists of the trajectory tracking are verified,In view of the deficiencies in the design of the lower limb rehabilitation,suggestions and proposals for improvement are put forward.