| The lower limb rehabilitation robot plays an important role in helping paraplegic patients in rehabilitation training,which greatly alleviate the problem of heavy tasks and low efficiency of physiotherapists in traditional manual rehabilitation training.Based on the detailed investigation of the lower limb rehabilitation training robot,this paper synthesizes the characteristics of various robots,and proposes the design idea of integrating the sitting,standing and running three-state assisted robots.This paper researches and completes the system design of the paraplegic assisted robot.At the same time,the gait phase recognition based on plantar pressure for the control strategy of walking assistant robot is studied etc.The following works have been accomplished.1.Based on the analysis of the characteristics of various lower limb rehabilitation robots at home and abroad,the research on human motion characteristics is carried out.According to the human body walking process,the gait cycle is divided to lay the foundation for the gait phase recognition.The human body standing process is analyzed,which is used to analyze the human motion space for robot structure design.Combined with ergonomics,the main size parameters are calculated according to the functional requirements of the paraplegic assisted robot to be designed.2.To meet the needs for standing and walking of paraplegic patients,the idea of three-state assisted robot design is put forward.According to the aforementioned ergonomics parameters,the design for assistant walking function of three-degree-offreedom exoskeleton and kinematics analysis are completed.The mobile lifting device is designed to complete the standing function of human body,including the underactuated structure design of the vertical direction of the exoskeleton.In order to satisfy the retractable function of the sitting plate in the process of sitting to standing,based on the research of the four-bar mechanism,the design of six-bar mechanism for sitting and standing attitude transformation is completed based on the optimized comprehensive solution.The mechanism is designed as a double crank slider mechanism.The genetic algorithm method is used for scale synthesis.The closed-loop vector method is used for kinematics analysis of the six-bar mechanism.Finally,the three-dimensional model of the six-bar mechanism is established by Solidworks.Motion simulation is carried out,and the results verify the effectiveness of the design.3.For the paraplegic assisted robot system,based on the completion of the structural design,the control strategy based on human-computer interaction is also an important issue to be studied.At present,the key to the control strategy of the humanmachine coupling system for assisted walking of exoskeleton robots is the gait phase recognition.For the paraplegic patients,it is difficult to identify the gait with the EMG and EEG signals.A plantar pressure acquisition system based on the Arduino Mega 2560 board and 8 single-membrane pressure sensors on one side shoe is established,and the plantar pressure information of normal walking and body weight support walking with belt is collected.Finally,gait phase recognition is carried out using neural network algorithm.The recognition rate satisfies the requirements of pattern recognition under this state,which proves that the plantar pressure collection and acquisition system can effectively applied to the development of exoskeleton control strategies. |
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