Research On Line-driven Lower Limb Rehabilitation Assistant Robot' Design And Experimental

With the continuous improvement of the living standards of the people,people are paying more and more attention to the threat of healthy high-end diseases.Stroke patients need long-term rehabilitation training after initial treatment to restore lower limb function and regain walking ability.This requires a lot of time and effort from the physician and the patient to complete the rehabilitation training.The lower limb rehabilitation assisting robot is a combination of robot and rehabilitation medical.The application of robot technology solve problems such as intensity,unreasonable rehabilitation,rehabilitation physicians,and difficulty in evaluation of rehabilitation process during lower limb rehabilitation.This paper summarizes the characteristics of lower limb rehabilitation robots,and designs a new lower limb rehabilitation assisting robot.By studying the muscle function of the human body,the bionic driving drive form is explored,and the drive transmission mode of the combination of the motor and the Bowden cable is designed.Through the study of human skeletal muscle anatomy,a comfortable interaction structure is designed for the lower limb robot to reduce the negative impact of the robot on the human body.the kinematics analysis and calculation of the lower limbs of the human body are carried out.Sensor technology is an important part of robotics.The lower limb robot requires the sensor to collect the user's real-time gait parameters to further determine the person's exercise status and the required rehabilitation assistance.This paper selects the appropriate sensor to collect data for the lower limb robot,and provides the robot with the information needed for control and the basis for disease judgment.Parts manufacturing has been completed by machining,3DP,etc.After that,the structural assembly and control platform of the lower limb rehabilitation assisting robot was completed according to the design.In order to verify the rehabilitation function of lower limb robot,the gait biomechanical interference experiment and rehabilitation assist experiment of lower limb robot were designed to verify the practicability of the robot.