The Development And Human-Machine Simulation Of Wearable Walking Assisted Robot

This study is mainly aimed at the difficulty of lower limb walking caused by osteoarthritis in China's gradually increasing aging population.In response to this problem,this paper gives a detailed introduction and analysis of the common rehabilitation exoskeleton robots currently on the market.On the basis,a wearable walking assisted robot is developed and a simulation experiment is carried out.(1)This paper analyzes the research status of assisted robots and medical devices at home and abroad,and finds that they are mainly cumbersome,expensive,and unable to be used outdoors,which means that there is still a lack of lightweight and easy-to-wear rehabilitation training device for assisted walking in the market.(2)A wearable walking power assisted robot is developed and a physical prototype is produced.This study designed the robot's mechanical system,including power assist devices,self-locking devices,balancing systems and force-measuring shoes,as well as robotic control systems.Moreover,a balance control strategy is proposed.(3)Robot simulation requires joint data on human walking,so a new type of human body-based trackball measurement system is developed,including the design of the spherical shell and the three-axis trackball.Compared with the joint measuring instrument designed by gyroscope and the like on the market,the main advantage of this set of equipment is its strong anti-electromagnetic interference capability and low cost.(4)In order to theoretically verify the practicability of the robot,this study creates a simulation model of human body model,robot 3D model,ground reaction model,human body and walking assisted robot,and develops simulation analysis program based on Matlab/Simulink simulation.The simulation results show that the design of robot walking balance control strategy is reasonable.(5)The outdoor experiment of the walking assisted robot is carried out and the experimental contents and experimental results are introduced and analyzed.The experimental results verify the practicability of this robot,indicating that the robot can meet the needs of normal use.