Research On Wearable Rope Driven Ankle Rehabilitation Robot

With the aggravation of the aging of our society,the number of patients with lower limb movement disorders caused by diseases of old age or sports injuries has increased greatly.However,There is a shortage of rehabilitation medical resources in China.Therefore,using rehabilitation robot to help patients with rehabilitation training and treatment can effectively alleviate the current shortage of rehabilitation medical resource.This dissertation aims to develop a wearable ankle rehabilitation robot,which has the function of helping patients with early passive rehabilitation training and later walking gait rehabilitation training.A brief introduction to the project and its main achievements obtained are as follows:Firstly,in order to solve the problems in the current wearable ankle joint structural design,such as complex structure,poor wearable comfort and safety performance,A structural design scheme based on single lasso driving system is proposed in this dissertation.The principle of lasso long-distance driving is used to separate the driving end from the wearing end,which simplifies the structural complexity of the wearing end,reduces the weight of the wearing end,and improves the wearing comfort.In addition,a two-way locking mechanism was designed based on the principle of rope drive and ratchet claw,which could lock the ankle joint at any Angle and ensure the safety of patients in rehabilitation training.Secondly,aiming at the low accuracy of gait detection in the current rehabilitation robot sensor system,a robot sensor system based on multi-sensor information fusion is proposed to detect the motion and attitude data of the foot?ankle and calf respectively.Then,based on the human gait characteristic data of the sensor,a gait detection algorithm based on multi-constraint zero-speed interval detection and gait characteristic movement recognition is proposed to realize the gait detection with high accuracy.Thirdly,based on the overall structure of the rehabilitation robot and the rehabilitation training needs of ankle joint,the control system of the robot is designed.The coulomb friction model is used to simplify the calculation process to analyze the driving force of a single lasso drive system.Based on the speed control as the inner ring,the position and torque strategy of the driving motor is proposed,and on this basis,combined with the gait characteristic data collected by the sensor system,the passive rehabilitation training and walking gait rehabilitation training control strategy is proposed.At last,the author designed the technological process of carbon fiber prepreg,using carbon fiber prepreg to make the leg arc guard plate,and made the experimental principle prototype by assembling the parts.The sensor data calibration experiment of human gait characteristic motion is carried out by combining the sensor system and high-speed camera system.The accuracy of gait recognition algorithm is verified by gait recognition experiment.In the end,the simulated passive rehabilitation training experiment and walking gait rehabilitation experiment are carried out to verify the effectiveness of the whole robot system.