Research On Multifunctional Lower Limb Rehabilitation Device

At present,subject to the shortage of rehabilitation medical resources,the potential for great rehabilitation needs of the elderly and disabled in my country has not been fully released.Therefore,this article designs a multifunctional lower limb rehabilitation device that can be applied to wheelchairs and hospital beds for patients with lower limb motor dysfunction.It is designed to help the elderly or disabled people with lower limb motor dysfunction in multiple scenarios to perform rehabilitation training and restore their lower limb motor function.First of all,this article relies on the human rehabilitation mechanism,by analyzing the anatomical structure of the human lower extremities,puts forward the design scheme of the lower extremity rehabilitation device with the bicycle motion mechanism as the main body,and determines two mechanical installation methods for the multi-scenario application of the lower extremity rehabilitation device.The detection sensor system and drive system of the rehabilitation device are designed in detail.Second,the complex vector method was used to analyze the kinematics of the multifunctional lower limb rehabilitation device.The vector equation was solved by Matlab to verify that the trajectory of the lower limb rehabilitation device met the design requirements.The expressions of the kinetic energy and potential energy of the lower limb rehabilitation device were derived respectively,and the driving torque required by the lower limb rehabilitation device under the desired motion trajectory was solved by the Lagrange dynamic equation,which verified the rationality of the driving system and laid the foundation for the design of the control system.Third,using XML language to establish the physical model of the human lower extremity and lower extremity rehabilitation device in OpenSim software,combining the kinematic angle data and the collected human-computer interaction force,the human lower extremity musculoskeletal model is obtained through simulation The variation of fiber length is used to analyze the rehabilitation effect of multifunctional lower limb rehabilitation device on human lower limb training.Finally,according to the rehabilitation strategy and motion requirements of the multifunctional lower extremity rehabilitation device,a fuzzy PID control algorithm was proposed to control the position of the lower extremity rehabilitation device.After the mathematical model of the servo motor of the drive system was obtained,the fuzzy PID control algorithm was verified in Simulink.The response curves of the driving servo motor model under the action of a step signal and a sinusoidal signal were simulated.The simulation results show that the control algorithm can meet the actual needs of patients with multifunctional lower limb rehabilitation devices.