Design And Research Of A Rehabilitation Robot For Human Lower Limb Training

Rehabilitation robot for human lower limb training is a medical equipment used to help the disabled.Recently,since the amount of patients with lower limp diseases is increasing rapidly,the demand for rehabilitation devices is growing.With the rapid development of technology,and the related technologies are improved,intelligent rehabilitation devices become an inevitable trend in the future.Consequently,designing efficient and suitable rehabilitation devices is of great importance to help the patient regain health and return to their normal lives,reduce family burden and social burden.Firstly,the paper gives a summary of current status and trend of the rehabilitation training robot.Secondly,the paper gets the working environment of robot and the gait cycle of the disabled,and then it suggests the main research directions and contents.To make the mechanical structure more stable,safer,more reliable,the stability conditions of robot in static system and dynamic system are analyzed.The kinematics and dynamics analysis are carried out,and the law of motion was described in details.Through the human-computer interaction system,help the old man or patients automatically go forward,turn around,and prevent speeding,falling and other functions in real time.The hardware design of control system is composed of the core circuit,power system,sensor system,control system of motor driving and surrounding device module.The high effective ARM micro-controller,DC brush servo motor,driving board,tension sensors,obstacle-avoiding system,control handle,remote control are chosen to build the hardware of the control system.When it comes to the software design,firstly,design the software structure of the system,and all parts of the software system are introduced,the fuzzy PID method is used to control the DC brush servo motor to obtain precise location and speed.The simulation platform for speed control of rehabilitation robot is constructed to verify the effectiveness of controlling algorithm by applying the MATLAB and ADAMS software.Finally,complete robotic assembly and commission,and the design verification test of robotics based on the prototype.Through the analysis of the experimental data,validated the reliability of the mechanical structure and validity of the control algorithm and electrical system.The experiment results indicated that the system had simple operation,high reliability and strong practicability.