Research On Portable Knee Rehabilitation Robot

Walking assisted knee rehabilitation robot is the product of the combination of lower extremity exoskeleton robot technology and weight-loss rehabilitation training.It replaces the traditional rehabilitation training with its characteristics of fast response speed and high accuracy of movement.The traditional lower limb rehabilitation robot integrates the treadmill and other platforms,which is large in size and complex in structure,and is suitable for large rehabilitation centers.Currently,there are few knee rehabilitation institutions.In view of the above shortcomings,a portable knee rehabilitation robot is proposed to meet the needs of knee joint rehabilitation training in family and community for patients with knee joint injury and ligament replacement surgery.Three aspects of knee joint structure and stress,knee joint movement form,typical knee joint disease and rehabilitation mode has been mentioned in this paper,the audience of knee joint rehabilitation robot is defined,and theoretical and data support is provided for the structural design of knee joint rehabilitation robot.On this basis,a portable knee joint rehabilitation robot configuration is proposed,combined with safety This paper introduces the structure,working principle and material selection of the rehabilitation robot.The driving device of knee joint rehabilitation robot is designed innovatively.The parameters of ball screw and servo motor are calculated according to the force condition of knee joint.The dynamic equation of driving device is established.According to the dynamic equation of driving system,the influence of ball screw diameter on the stability and motion accuracy of driving system is analyzed,so as to optimize the selection of ball screw.D-H matrix method is used to establish the kinematics mathematical model of the knee joint rehabilitation robot.Matlab / Simulink is used to study the forward and inverse kinematics solutions.Lagrangemethod is used to establish its dynamics equation,and ADMAS is used to simulate and analyze the dynamics.Through the research on the key technologies of the knee rehabilitation robot,a kind of knee rehabilitation robot with reasonable posture and stable driving is designed,and the rationality and correctness of the mechanism are verified by calculation and simulation,which shows that the research can achieve the expected results.It provides theoretical basis and research experience for the development of knee joint rehabilitation robot.With the development of rehabilitation robot technology,it has important scientific research value and application value for improving the rehabilitation effect of knee joint patients.