Mechanism And Experimental Study Of Exoskeleton Lower Limb Rehabilitation Robot

The exoskeleton lower extremity rehabilitation robot is a mechanical system that is designed and manufactured based on the knowledge of various disciplines such as ergonomics,mechatronics,and rehabilitation medicine.It is used to help medical staff perform exercise and rehabilitation treatment on patients with lower extremity hemiplegia,lower limb weakness,and other lower limb dysfunction.With the continuous improvement of the reliability of exoskeleton rehabilitation robots,it is of great significance to the improvement and progress of the current medical level.A large amount of literature are reviewed in this article,analyzing and researching the performance characteristics of existing exoskeleton lower limb rehabilitation robots.The transmission efficiency for exoskeleton lower limb rehabilitation robots is low,and the costs for manufacturing,maintenance and application are relatively high.Combining the characteristics of human gait movement physiological structure,a pneumatic exoskeleton lower limb rehabilitation robot using a linear motion mechanism as a power source is proposed.To improve the organization's delivery efficiency as the design optimization goal,the study of humans gait rehabilitation in the sagittal plane is conducted.Make it better to meet the patient's use requirements.Through in-depth study of the physiological structure of the human lower limbs and the gait movement of the human body,the length of the human lower limb and the range of motion of the joint were determined.A human lower limb model that can adjust the length was proposed,which is suitable for three-dimensional simulation and physical tests.Using MATLAB software,a numerical calculation method was used to optimize the geometric parameters of the exoskeleton lower limb rehabilitation robot,and establish kinematic models and mechanical models,analyzing the change between the cylinder travel stroke and the joint rotation angle,and the joint output torque changes under the condition of constant input force,and using ADAMS software to validate kinematic models and mechanical models,the correctness and reliability of kinematic models and mechanical models established by numerical analysis methods are proved.According to the result of geometric parameter optimization,the three-dimensional model of exoskeleton lower limb rehabilitation robot was established by using SOILDWORKS software.And kinematics simulation was performed on the exoskeleton lower limb rehabilitation robot In the ADAMS environment.The result shows that the movement of the leg model does indeed approximate the course of the human gait walking.At the same time,an exoskeleton hardware circuit control board is designed based on a minimum system of 51 single-chip microcomputers.Researching the human gait timing diagram,according to the human gait movement characteristics and rehabilitation training requirements,designed a program flow chart with 3 functions to achieve the design of control programs for exoskeleton devices.Finally,establish an exoskeleton lower limb rehabilitation robot test platform to conduct experiments.The experimental results meet the human gait movement requirements.Institutional design has been verified to be reasonable and accurate,for product development and follow-up improvement has played a catalytic role.