Design And Research Of A Biological Fusion Knee Joint Rehabilitation Robot

Taking the patients with knee joint dyskinesia as the research object,it is necessary to correct and scientific rehabilitation training.In the actual rehabilitation process,relative displacement of the knee joint and exoskeleton axis will occur,it always makes patients feel uncomfortable.In order to over come this shortcoming,this paper proposes a biological fusion knee joint rehabilitation robot.The robot can make up for the shortcomings of low efficiency and high labor intensity of artificial rehabilitation treatment,at the same time,it can automatically compensate the displacement of the rotation center which is exists in the human knee joint and exoskeleton knee when the rehabilitation works,then it can coordinate with the human knee joint.First of all,based on the anatomy of knee joint and a 1R human knee joint model with variable axis rotation,a method of configuration synthesis of bio-fusion knee joint rehabilitation machine with automatic alignment of knee joint and exoskeleton axis is proposed,and a series of bio-fusion knee joint rehabilitation mechanisms are designed,on the basis of the characteristic parameters on the human body,an optimal bio-fusion knee rehabilitation mechanism is proposed.The concrete structure design of the integrated biological fusion knee rehabilitation mechanism was analyzed,the kinematics positive and negative solutions of the mechanism were analyzed and calculated,and the working space of the knee rehabilitation robot was drawn by using the polar coordinate boundary search method.The velocity and acceleration of each component of the mechanism are obtained by the vector closed-loop method,which provides a research basis for the construction of the dynamic model in the range of the biological fusion knee rehabilitation robot.Dynamics of bio-integrated knee rehabilitation robot.The Newton Euler equation of the knee rehabilitation robot was established,and the joint simulation model of the biological fusion knee rehabilitation robot was obtained based on the Adams / Simulink joint simulation technology.The calculation results of the dynamic theoretical model and the joint simulation results were compared to verify the biological fusion formula.Correctness of the kinematic rehabilitation robot dynamic model design.The construction of a knee joint rehabilitation robot dynamic model can provide theoretical basis for the design and optimization of subsequent prototype parts.Making a prototype model of bio-fusion knee rehabilitation robot.Take the prototype model of rehabilitation robot as the research object,the hardware design of the control system and the programming of the human-computer interaction interface were performed.The experiment of flexion and extension of knee rehabilitation robot is completed.The knee angle rehabilitation was verified by analyzing data such as joint angles and myoelectric signals collected by various sensors.The rationality and feasibility of robot design of knee joint rehabilitation robot are verified.By comparing the motion experiments of single degree of freedom and bio fusion knee rehabilitation robot,the validity of motion compensation of bio fusion knee rehabilitation robot is verified.