Research On Design Of Mobile Rehabilitation Robot And Modeling Of Lower Limb Rehabilitation Movement

As China is a large country with a large population,the number of disabled people is correspondingly large,so is the demand for rehabilitation equipment,especially rehabilitation robots.At the same time,in order to prevent long-term limb dysfunction caused by cerebrovascular diseases and nervous system diseases,especially the damage or necrosis of hemiplegia and paraplegia muscles,patients need to carry out reasonable rehabilitation training,and the maximum extent of rehabilitation training for the limbs.Traditional rehabilitation training,which is done by hand with the help of therapists,is both labor-intensive and expensive.And the training places are mostly fixed places,unable to do home rehabilitation training.Therefore,this article developed a rehabilitation robot for patients with lower limb dysfunction,assist patients sit since movement,the lower limb rehabilitation training,in order to comfort,also can undertake horizontal movement,and can not limited to training place,home rehabilitation training,and can be done to improve the patient’s quality of life and independent life ability,reduce the burden of caregivers.The specific research work of this paper is as follows:(1)Overall scheme design of mobile lower limb rehabilitation robot.By analyzing the physiological structure characteristics of human lower limb and the normal sitting process of human body,and according to the functional requirements of the mobile lower limb training robot,the design of the mobile rehabilitation training robot which integrates wheelchair walking aid and rehabilitation training is proposed,and the design of the key modules of the robot and its statics characteristics are analyzed.(2)Analysis and modeling of three typical movement modes of mobile lower limb training robot.Function analysis of three basic movement modes of robot:standing mode,lying down mode and leg training mode is carried out,and kinematics models of the three movement modes are established.(3)Kinematics modeling and rehabilitation exercise analysis of lower limbs.The degree of freedom of lower limb training mechanism is analyzed and its working space is modeled.The kinematics model of the training space was established for the lower extremity training institution,and based on the designed lower extremity training institution,the typical training mode that could be realized was planned and analyzed,which proved the effectiveness of the lower extremity rehabilitation institution design in this study.(4)Developing of experimental platform and experimental researching.By developing the robot prototype and building the robot experiment platform,the feasibility of the three typical movements of the robot was verified.At the same time,the force information of the key components in the movement process of the three modes was collected to analyze the force process.The experimental study proves that the mobile lower limb training robot can provide leg training function for patients with lower limbs,and can also help patients with standing movement and lying movement.