Design And Research Of Multifunctional Lower Limb Rehabilitation Exoskeleton And Inter-cloud System

The number of stroke and traffic accident patients is increasing year by year,and postoperative limb function rehabilitation has become an urgent problem due to insufficient medical resources and uneven distribution.The exoskeleton robot has inherent advantages in repetitiveness and stability,and is very suitable to be developed as a device to help the elderly and disabled,which can provide accurate rehabilitation training to patients for a long time and repetitively,and solve some disadvantages of traditional rehabilitation treatment while completing the training.At the same time,the continuous development of cloud platform technology can be combined with rehabilitation equipment to lift time and geographical restrictions and realize remote information exchange and rehabilitation training between doctors and patients.In this paper,the physiological structure of human lower limbs and the freedom of joint motion are studied firstly.After considering man-machine matching,a lower limb exoskeleton robot is designed,which consists of an electric wheelchair,an auxiliary standing structure and exoskeleton legs.The whole robot system uses a motor as the power source,which can realize the functions of walking,auxiliary standing and rehabilitation training.The static analysis of exoskeleton robot is carried out by Ansys to ensure that its structural strength meets the design requirements,and the topology optimization method is adopted to optimize the structure of some components.The kinematics model of lower extremity exoskeleton robot in rehabilitation training posture was established.the terminal posture was calculated by the change of joint angle.at the same time,the dynamics models of single leg support and double leg support were established,and the joint torque in the theoretical state was calculated.The exoskeleton robot prototype model is imported into Adams software for analysis and the joint torque under the simulation state is obtained.The rationality of gait design is verified by comparing the simulation data with the theoretical data,and the stability during walking is verified by using ZMP theory.The requirements of all users in the cloud interconnection system are studied,and the functions of the cloud interconnection system are designed according to the requirements.the hierarchical structure of the system consists of an application layer,a server layer and a perception layer.The application layer uses B/S structure to design the front-end,the server layer uses the mainstream MVC framework SSM to design,the data communication protocol is MQTT,and through the analysis of the entity class obtains the UML class diagram of the cloud interconnection system,determines the structure of the database,and uses HTML language and Webstorm software to write the home page,doctor interface,patient interface and administrator interface.Finally,the sensor system involved in the component model was determined,and a fusion fuzzy PID control system based on fuzzy PID algorithm was designed.The lower limb exoskeleton robot entity prototype was established,and the control system and the cloud interconnect system were built and debugged.the functions of the cloud interconnect system were tested,and the system functions were running normally.The experiments of locomotion,assisted standing and rehabilitation training for exoskeleton robot were performed using the solid prototype.The experimental results were consistent with the expected results.There was a certain error between the actual joint angle and the input angle during the movement,but it was still in the acceptable range,which verified the rationality of the control system and mechanical structure design.