Design Of Powered Knee Joint Rehabilitation Device

With the continuous improvement of people's living standards,more and more knee arthritis patients began to focus on scientific and rational rehabilitation training to restore walking ability,although now the research for the lower extremity exoskeleton walker has gradually mature and commercialized,but the research on the rehabilitation equipment for single joints is not much.Therefore,the research of this study has important practical significance.The purpose of this study is to design a powered knee rehabilitation device that can support patients with passive training,semi-passive training and active training in three modes of rehabilitation training.The study first analyzes the different forms of exoskeleton at home and abroad,and understands the present situation of research progress at home and abroad,and summarizes the core characteristics of each representative product movement mode and control strategy.The anatomical characteristics and movement mechanism of the lower limbs of the human body,especially the knee joint,were analyzed.The gait characteristics of human normal walking were studied,and the gait acquisition of 10 male subjects was carried out by using the Vicon action capture system.Through the experiment we got the knee angle change curve.Then based on the rehabilitation habits of the patients and the design principles of the general mechanical structure proposed the structure design.After the introduction of three stages of the rehabilitation training,established an auxiliary scaffold model according to the training mode of the passive rehabilitation stage,and choose the motor drive as the control mode of the drive.The specific fatigue strength of the key components was verified by ANSYS software.The results show that the fatigue life of the parts under the conditions of the load is in accordance with the conditions.The kinematic analysis of the structure was carried out by Adams software.The knee joint angle curve collected in Chapter 2 was chosen as the basis of motion in the simulation calculation.After selecting the key point,the STEP function was written and simulated.And according to the results of the simulation of the rehabilitation device to drive the lower limbs to get the required torque,in order to complete the motor selection.The human-machine-environment system of the rehabilitation device was analyzed.Conducted the design of the outlook at last.Proposed the summary and the questions and my own thinking,and the prospect for the future to carry out the relevant research.