Development Of Lower Limbs Rehabilitation Robot For Hemiplegic Patients

As innovative auxiliary tools for rehabilitation training,rehabilitation robots have wide application prospects.A new type of lower limb rehabilitation robot and its rehabilitation evaluation system were proposed in this thesis.A combination of medical and engineering methods was used to analyze the physiological structure and movement characteristics of human arms and lower limbs,and a simplified model of the rehabilitation training interaction between the therapist and the patient was established.Based on the demand of lower limb rehabilitation training,especially the walking training with the help of therapists,a motion detection and evaluation system was developed,a mechanical mechanism and control system of the lower limb rehabilitation robot was designed,and the experiments were established to verify the function of the motion detection and evaluation system and the lower limb rehabilitation robot.The physiological structure and motion characteristics of the human lower limbs and arms were analyzed,and a simplified movement model of lower limbs and arms was established.Based on the interaction between the patient and the therapist in rehabilitation training,a simplified rehabilitation training interaction model was established.In response to the patient's lower limb rehabilitation demands,the lower limb motion detection system and the lower limb rehabilitation robots were proposed.According to the simplified lower limb movement model,joint angle calculation and motion evaluation algorithm were designed.Based on C++Builder,the motion data acquisition program was developed,and Matlab was used to compare and analyze the motion data of patients and healthy people,which verified the effectiveness of the system.For the simplified rehabilitation training interaction model between the therapist and the patient,the lower limb rehabilitation robot mechanism scheme was designed,and the detailed mechanism design,stress analysis and strength check were performed,and the complete machine organization research and development was completed.Finally,the hardware components of the control system and the control strategies of the related functions are introduced,and experiments were established.The experimental results show that the motion detection and evaluation system designed was effective in the evaluation of the movement of patients and healthy persons,and the robot designed can be applied in walking training of lower limbs rehabilitation.