Design And Research Of Seat Type Lower Limb Rehabilitation Robot

With the increase in the number of patients with lower limbs movement diseases each year,the treatment of lower limbs in patients has attracted a lot of attention in society.The rehabilitation robot industry is an emerging industry that involved in a wide range of subject knowledge.The lower limb rehabilitation robot can provide patients with efficient and professional treatment to a certain extent.The research about rehabilitation robot has achieved remarkable results abroad,but it is still in its infancy in our country,so the study on this area has important significance.In this paper,a seat-type lower limb rehabilitation machine that can be used in hospitals and homes is designed for the treatment of lower limbs movement diseases patients.The work of this paper is as follows:Analyze the structure of the lower limbs of the human body,and determine the design requirements of the lower limbs of this robot.Then,according to the design requirements,a lower limb movement machine with three degrees of freedom on the single side of this robot is designed.Choose the material of this robot,and carried out the ANSYS finite element analysis on each limbs of this robot to test the reliability of it.Then,according to the functions of this robot,choosing the hardware that we needed and designed the circuit diagram of this control system.And ultimately,a model of lower limbs rehabilitation robot is finished with the hardware that we selected according to the circuit diagram.The kinematic analysis and dynamic analysis of this machine are carried out.At the same time,designed two kinds of track for the end of the lower limbs,and worked out the equation for each path.Then using MATLAB to simulate each equation in order to verify the rationality of each motion equation we designed.Worked out the Lagrangian dynamic equation of this human-machine model,and using ADMAS to simulate the dynamic equation to illustrate the accuracy of the model.Designing a fuzzy PID controller to make the system have better response characteristics.And aiming at passive treatment of patients,a treatment method named impedance control which based position control was designed to provided protection for patients when they were encountered obstacles or large contact forces during rehabilitation.Then using MATLAB to simulate this control method on each motion track of the end of lower limbs to illustrate the accuracy of the control method.Finally,the motion track of the end of lower limbs is tracked by experiments.At the same time,the change of contact force and path correction of the end of lower limbs of the robot under the impedance control method were observed.The correctness of the motion track and impedance method we designed is illustrated by analyzing the experimental results.