Simulation Study On Lower Limb Exoskeleton Rehabilitation Robot Based On Comfort

The lower extremity exoskeleton rehabilitation robot is a device for postoperative rehabilitation of patients.On the premise of ensuring the realization of functions,the realization of man-machine integration,safety and comfort is the top priority of the research.The research is as follows.Based on Open Sim software,the motion rules of hip,knee and ankle joints in different patients during the swing period were explored.Based on human lower limb parameters,the optimized four-bar bionic knee instantaneous center track and lower limb movement track were both close to the Open Sim body.The degree of freedom of manmachine coupling system is discussed based on comfort,and the coupling mode under dynamic man-machine condition is analyzed.Based on the analysis,the lower extremity exoskeleton rehabilitation robot,lacing,knee,ankle and large and small legs were designed,and the 3D model was completed.Based on Newton-Euler method,a dynamic model of lower extremity exoskeleton with human-computer interaction force was established,and the human-computer interaction force curve was analyzed by MATLAB and ADAMS simulation.Based on the method of finite element analysis,the stress distribution law of human lower limbs caused by binding between man and machine was explored.Based on the stability criterion of zero moment point(ZMP)and ADAMS simulation,the stability of man-machine collaboration is verified.Based on ADAMS and MATLAB,with the human-machine system and exoskeleton joint angle deviation minimum as the control goal,the passive and active rehabilitation control system diagram with PID control was established.By simulating the exoskeleton joint angle deviation of the human system during passive and active rehabilitation,the results show that the control strategy meets the requirements of comfort.Based on comfort,the research conclusions from the aspects of anthropomorphic structure design,human-computer interaction force simulation analysis and control strategy are of certain significance to the deepening of the design theory of this device.Figure 80;Table 15;Reference 77...