Research On Structure Design And Computer Control Of Sitting Lower Limb Rehabilitation Robot

Aiming at the large number of patients with limb motion dysfunction in China,the major hospitals in China often adopt traditional artificial rehabilitation treatment methods,and some hospitals introduce advanced rehabilitation medical equipment from abroad.However,the number of high-tech intelligent rehabilitation equipment is still relatively small compared to the large number of patients with physical disabilities and the shortage of rehabilitation physicians and rehabilitation medical equipment.Domestic colleges and universities begin to study rehabilitation robots for this problem,but most of them focus on complex and expensive rehabilitation robots which are suitable for hospitals.Aiming at this problem,a rehabilitation robot with simple operation and low cost is designed for ordinary families.In this paper,the motion trajectory planning of the human-machine system of the sitting lower limb rehabilitation robot,the dynamics analysis of human lower limbs,the control program design for personal computer and the rehabilitation effect of the robot are studied theoretically and experimentally.The research status of lower limb rehabilitation robots and related fields at home and abroad is summarized.Based on the analysis and comparison of the mechanism,working principle and control strategy of the existing lower limb rehabilitation robot with end structure,a new mechanism scheme of sitting lower limb rehabilitation robot is proposed and its control scheme is designed.The robot optimizes the trajectory of patients with different body length.The circular trajectory is used to reduce the number of driving modes.It is equipped with two driving modes: the toe and heel.The heel driving mode is specially designed for patients with rehabilitation needs of hip and knee joints.It provides appropriate training mode according to the change of rehabilitation stage,including four rehabilitation modes: passive mode,assistant mode,active mode and resistance mode.The Sim Mechanics module of MATLAB is used to analyze the kinematics and dynamics of the simple model of the human-machine system of the sitting lower limb rehabilitation robot.It includes the motion trajectory of the lower limb,i.e.the circular trajectory,and the simulation of the maximum circular trajectory in the workspace of the lower limb.Lab VIEW software is used to compile the control program of sitting lower limb rehabilitation robot based on Windows platform.It includes the main program of four rehabilitation training modes,man-machine interface and initial parameters calculation program of robot body.Finally,the effect of rehabilitation on the experimental prototype of sitting lower limb rehabilitation robot is evaluated.The functionality,stability and safety of the whole system was confirmed and the expected rehabilitation effect was achieved.