Research Of Standing Exoskeleton Robot

Current products are faced up with multiple requirements from market,clients,function,machining and assembly,cost,environment and inner disturbance,etc.This requires a more harmonious collaboration between mechanical and hardware,software design.Meantime,the booming internet industry makes it realized that remote control and interactive data management are more and more frequent in normal families.This paper researches the standing lower limbs exoskeleton rehabilitation robot in mechanical design,hardware and software design of control system,and combination with the Internet.In mechanical design,several overall proposals are brought up.Detailed comparisons were made in driving source,transmission mechanism,and dynamics in order to obtain the primmest design plan.In the final plan,the robot base employs electrical linear actuator and running machine to simulate respectively the changes of weight center and forward motion when human walks.Slider crank mechanism is employed in the mechanical design of hip and kneel robots.In detailed mechanical design,dimensions and dynamic data is given in weight center module,adjustment module,hip and kneel robot,and human-machine interface.3D models are built in solidworks concerning to the above modules.In the control system design,first two main rehabilitation strategies,active and passive rehabilitation mode are proposed.To fulfill these needs,hardware including GUC controller,servo motor and DSP signals processor is designed.The software is programmed in Visual Basic 6.0,including several rehabilitation modes and data pool management.Based on this frame,the walking trajectory fitting of the two modes is computed and analyzed,and the block diagrams are drawn in application.Rehabilitation combined with the Internet industry mainly focuses the application in intellectual city.This paper gives the eight main modules of the rehabilitation medical network under the intellectual city proposal and the relations among them.A detailed application situation is discussed in the modules used and the flow chart.Combined with the current popular face recognition technology,this paper expounds the convenience of face recognition in the application of traditional Chinese medicine in the smart city.