Design And Research Of Exoskeleton For Combat Injury Rehabilitation Of Lower Limbs

Lower Extremity Warfare Rehabilitation Exoskeleton is a soldier-wearing medical support equipment that can provide rehabilitation training for soldiers and assist them to walk stably.In the future battlefield,the introduction of exoskeletons into the military medical support equipment can greatly improve the level of rehabilitation and transport of the wounded.Firstly,the lower extremity exoskeleton mechanical system is the basis of other sub-systems and should be safe,reliable,comfortable,and lightweight.Ergonomic and bionic design methods are used to design the exoskeleton mechanical system.The structural topology optimization method is adopted to carry out lightweight design of the bionic structure,which reduces the structural weight and meets the strength requirements.At the same time,in order to meet the needs of war wound rehabilitation,the direct drive of the motor is used to actively drive the joint to realize the exoskeleton rehabilitation training and stable walking function.Then,in order to satisfy the stable walking function of the exoskeleton,the skeletal planning of the exoskeleton is performed.Finally,the virtual prototype model of human-exoskeleton coupling motion is established by ADAMS,and the ground walking simulation is carried out.The key point trajectory and joint dynamics parameters are obtained.By comparing with the planned center of gravity and the ankle trajectory,the exoskeleton can achieve the expected motion and stabilize.Walking,the simulation results show that the designed gait planning method is reasonable and effective.Furthermore,the iterative learning control strategy and the impedance control strategy are used to control the exocrine-assisted soldiers to carry out the active-passive rehabilitation training,and the virtual prototype and the control system are co-simulated,which proves that both methods have good trajectory tracking.Finally,for the purpose of experimental research,an exoskeleton prototype platform was established.Firstly,the exoskeleton drive system is debugged and analyzed to determine the parameters of the drive system and the control system.The passive rehabilitation training based on iterative control learning control method was tested to verify the effectiveness of the control strategy.