Virtual Prototype Design And Simulation Of Lower Limb Rehabilitation Exoskeleton For Stroke Hemiplegia Patients

With the development of science and technology,the research of exoskeleton continues to advance,bringing new dawn to rehabilitation training.This article mainly studies the lower limb rehabilitation exoskeleton,which suitable for stroke hemiplegic patients,and designs an exoskeleton-based rehabilitation training exercise program for patient.Firstly,according to the physiological structure of the human lower limbs,this article designs the structure of exoskeleton.Then driving scheme is selected and a threedimensional virtual prototype model is established.This article uses ANSYS software to verify the mechanical properties of the exoskeleton and optimizes the structure to ensure the safety of the exoskeleton.Secondly,this article analyzes the kinematics and dynamics of exoskeleton.The theoretical models of forward and inverse kinematics are established and verified in MATLAB software;An exoskeleton inverse dynamics model is established using the Lagrange method;The kinematics and dynamics models established above are simulated and verified in ADAMS software,which lays the foundation for the following control system and trajectory planning.Finally,this article establishes an exoskeleton control system,and designs an exoskeleton-based rehabilitation training exercise for patient with stroke hemiplegia.Then this article performs trajectory planning for leg training,and verifies the rationality in ADAMS software.In addition,the simulation performance of exoskeleton rehabilitation performance is verified in this article.By comparing and analyzing the energy and momentum moments of joints in the cases of diseased gait,normal gait,and patient wearing exoskeleton gait,verifies the exoskeleton designed in this article has good rehabilitation function.