The Design And Research Of Pedal-type Lower Limb Rehabilitation Robot

Nowadays,the number of patients with lower limb dysfunction caused by stroke,brain trauma and spinal injury increases year by year.Scientific studies have shown that the central nervous system of the human body has a certain plasticity,and the limbs of patients can be repaired through scientific and reasonable active or passive training,so as to reduce the disability rate and guarantee the postoperative quality of patient's life.Because the medical resources in our country are relatively poor,the social demand for medical rehabilitation products is increasing.Traditional rehabilitation training mainly depends on artificial auxiliary,which is difficult to ensure the precision and intensity of rehabilitation.According to the disease degree of patients,the lower limb rehabilitation training robot can provide different training patterns,which can replace the rehabilitation doctor heavy manual labor and provide objective and accurate motion data to guide the patients conveniently.The lower limb rehabilitation training robot can ensure the intensity and accuracy of training,greatly enhance the efficiency of rehabilitation and make patients early return home and society.The core function of the lower limb rehabilitation robot is to simulate the walking movement of lower limb and assist the patients in rehabilitation training.Based on the comparative analysis of domestic and foreign rehabilitation robots and the movement mechanism of human lower limbs,this thesis designs a mechanism scheme of pedal type rehabilitation robot for lower limbs.The main research contents are as follows:(1)The acquisition and analysis of standard gait trajectory.the movement mechanism of the lower limbs and the gait cycle process is analyzed in detail.The optical three-dimensional motion capture device is used to collect data on the movement trajectory of normal people,and then fit out the standard gait trajectory model.(2)The structural design and analysis of lower limb rehabilitation robot.On the premise of satisfying the rehabilitation training function and ensuring safety,this paper designs a 6-dof lower limb rehabilitation robot,which is mainly composed of the control host,the weight reduction mechanism and the gait mechanism.This paper analyzes the selection of the drive motor of gait mechanism in detail.The Solidworks software is used todraw the assembly diagram of the mechanism and complete the production of the prototype.The forward and inverse kinematics of rehabilitation robot are analyzed in detail.The Adams software is used for simulation analysis in order to verify the justifiability of the size.(3)The selection and analysis of control strategy of lower limb rehabilitation robot.According to the patient's different condition,independent PD control and independent PD+ gravity compensation control are respectively adopted to establish the control model in Simulink for simulation analysis,the reasonable of the structure design and feasibility of the control strategy are verified.