Design And Prototype Development Of Multi Position Lower Limb Rehabilitation Robot

Lower limb rehabilitation robot is mainly used for rehabilitation of patients with lower limb disabilities.At present,the mainstream products generally adopt suspension weight-loss walking structure.Because suspension weight-loss walking structure is mainly suitable for patients with certain standing or walking ability,it is not suitable for patients with early lower limb hemiplegia or patients with complete spinal cord injury,and its function is relatively single.In order to solve the above problems,this study designed a multi-pose lower limb rehabilitation robot system,including robot structure design,mechanical analysis and prototype manufacturing,and used the rehabilitation robot system to carry out relevant experiments,providing a basis for the clinical application of the mechanism system and related rehabilitation research.The following work has been done in this paper:1.Combining with the medical knowledge of hemiplegia rehabilitation and the requirements of rehabilitation training for different postures of spinal cord injury patients in different periods,a lower limb rehabilitation robot mechanism is designed,which can realize a variety of training modes based on sitting/lying/oblique posture.Its mechanism consists of four parts: chassis steel frame mechanism,reversible bed mechanism,and two symmetrically connected beds with the left and right sides of the same structure.The lateral lower limb exoskeleton mechanism and the knee joint exoskeleton mechanism are symmetrically connected to the left and right sides of the bed body by two structures.2.The maximum thrust and stability of the linear push rod in the bed mechanism are analyzed and calculated;the crank-rocker mechanism in the lower extremity exoskeleton is designed and calculated;the kinematics and dynamics of the designed multi-pose lower extremity rehabilitation robot are analyzed;the dynamic characteristics of the key components are analyzed and the corresponding improvement design is carried out.3.The prototype of the designed multi-pose lower extremity rehabilitation robot is manufactured and installed,and the performance of the prototype is tested by installing sensors.The angular displacement,angular velocity and angular acceleration of ankle joint,knee joint and hip joint are obtained.The prototype running tests of various training modes of sitting/lying/tilting posture are carried out,and the feasibility of the lower extremity rehabilitation robot for rehabilitation training is preliminarily demonstrated.Actuality and reliability.