Design And Analysis Of A Constant Speed Training Rehabilitation Robot

The constant speed training is an advanced rehabilitation training mode.During the constant speed training,the limbs do not produce acceleration,which can reduce the occurrence of muscle spasm and achieve significant rehabilitation effect At present,the constant speed training equipment is only developed abroad,and common rehabilitation robots cannot achieve constant speed training.In order to get more efficient rehabilitation training for patients with limb disability,this paper combines robotics,rehabilitation medicine theory,constant velocity training concept and human kinematics,etc.In response to the current state of isokinetic training,that a single joint participates the training mode is monotonous.and the isokinetic rehabilitation equipment is lacking in the home and community.a device capable of performing different joints and different amplitudes of constant speed rehabilitation training was developed on the basis of the end treadmill rehabilitation robot.Firstly,according to the relevant theory of rehabilitation medicine,the human physiology and exercise parameters are discussed.The calculation and analysis of the human-machine model are carried out.The simulation and analysis of various influencing factors of the end-trailer robot training effect are carried out for isokinetic rehabilitation.provides a reference tothe design of the training robot.Secondly,according to the design scheme of the constant speed rehabilitation training robot.Design the structural of horizontal displacement mechanism,training mechanism and auxiliary equipment.The kinematics and dynamics of the human-machine model are analyzed,and the method of achieving constant-speed joint training is solved to verify the rationality of the robot design.The specific requirements of joint constant velocity training are proposed,and the isokinetic motion laws of limb joints such as angular acceleration,angular velocity,angle,and motion cycle are calculated.Then,according to the movement space of the lower limbs of the human body,the working space of the constant velocity rehabilitation training robot is constrained,and the calculated horizontal displacement law of the sliding platform is verified by Matlab.use the Adams to simulate the motion of the ankle joint during the hip and knee joint isokinetic training.The safety and feasibility of the designed robot for the isokinetic training of the lower limb hip and knee joint were proved.Finally,physical prototype manufacturing is performed on the designed robot,and the hip joint and knee joint isokinetic training of the lower limbs are tested,and relevant experimental data such as the angle of the trained joint and the trajectory of the lower extremity are collected.It is proved that the designed robot can realize the isokinetic training of the lower limb hip and knee joint of the user in the safe range of lower limb movement.