The Design And Research Of Lower Limb Rehabilitation Training Robot

In recent years,with the aggravation of aging in China,stroke and other diseases have led to a large number of patients with lower limb dyskinesia.However,with timely and effective treatment and training,patients' lower limb motor function can be significantly improved.As a special medical robot,rehabilitation training robot can assist patients in rehabilitation training and improve the efficiency of rehabilitation.Therefore,lower limb rehabilitation training robot has become a very popular research field.In this paper,a pedal lower limb rehabilitation training robot with different training modes is designed for patients with lower limb dyskinesia,focusing on structural design and control strategies.It is of great significance for rehabilitation training of lower limb patients.The main contents of this paper are as follows:Firstly,this paper introduced the background and significance of this study,analyzed the research status of lower limb rehabilitation training robot at home and abroad,and put forward the research content of this paper.The walking data of healthy subjects were collected through gait movement experiment.The walking rules of human body were summarized through experiment analysis..Secondly,the overall structure of the lower limb rehabilitation training robot was determined according to the rehabilitation functional requirements.The structure of the lower limb rehabilitation training robot is modeled by Solidworks software,and the experimental prototype is developed and manufactured.Then,the kinematics model of the rehabilitation training robot is built by D-H method.The forward and inverse kinematics of the rehabilitation training robot are analyzed.The kinematics model is theoretically calculated and verified by MATLAB software.The dynamic model of rehabilitation training robot is established by using Lagrange dynamics method,and the dynamic analysis of the robot is completed by constructing the dynamic equation.Finally,according to the needs of rehabilitation training,two different training modes,passive training and active training,are proposed.For the passive training,this paper adopts the control strategy based on calculating moment to control and track the trajectory of the rehabilitation training robot.For the active training,the position-based impedance control strategy is adopted to control the rehabilitation training robot.In addition,the control model is built in MATLAB/Simulink,and the rationality of the structure design and the feasibility of the control strategy are verified by simulation analysis.