Design And Research On The Rehabilitation Training Robot System Of Sitting Horizontal Quadriceps

Patients with knee dysfunction are often accompanied by varying degrees of quadriceps muscle strength damage,which causes great inconvenience to the patient's life.Existing lower limb rehabilitation robots use joint mobility as an indicator,ignoring the role of muscle strength,and limiting the corner of the knee joint,which ultimately leads to poor rehabilitation effects.In response to the above problems,this article designed a sitting and lying quadriceps rehabilitation robot,and discussed the rehabilitation strategy of the quadriceps,and finally verified the effectiveness of muscle rehabilitation through experiments.Based on the knowledge of human physiology and anatomy,the motion range of the rehabilitation robot was planned to ensure the safety of the patient during the training process;based on the principle of offset crank slider and combined with the flexion and extension of the quadriceps,the rehabilitation mechanisms with different postures are proposed.Based on the knowledge of ergonomics,the overall design of the quadriceps rehabilitation robot is given,including the design of the overall structure,selection of driving source and overall control principle.The kinematics equation of the quadriceps rehabilitation robot was established based on the closed-loop vector method,and the kinematics simulation analysis of the rehabilitation robot was performed using Matlab and Adams software.Then the power of the human-machine system of the quadriceps rehabilitation robot was established by Newton Euler method Learn the equation and complete the relevant simulation analysis.Based on the biomechanical simulation software Anybody,a kinematic and dynamic simulation analysis of the squat movements of the lower limbs of the human body was performed by writing a program in the software.The analysis results show that the lower limb flexion and extension exercises have a positive effect on the quadriceps rehabilitation,and further proposed the rehabilitation strategy of quadriceps muscles.Finally,an experimental prototype was built,and the functional design and rehabilitation effect of the prototype were experimentally verified.The exercise space experiment shows that the maximum movement space of the prototype during the rehabilitation process meets the design requirements within the preset range;the load-speed relationship experiment shows that the prototype can meet the needs of patients under different load conditions during the rehabilitation training cycle;the flip experiment shows that the prototype has a foldable function;EMG signal acquisition experiment and rehabilitation exercise experiment show the effectiveness of the prototype on quadriceps rehabilitation;rehabilitation exercise experiments further verify the correctness of kinematics and dynamics theory and simulation.