Design And Motion Planning Of A Pelvic-Assisted Walking Training Robot

Assisted walking training robots have always been a hot topic in the field of medical rehabilitation training.In this subject,a pelvic-assisted walking training robot is designed for groups with difficulty in walking independently,such as hemiplegic patients and the elderly.The robot can combine pelvic movements with lower extremity movements to assist patients with walking rehabilitation training to restore their ability to normal walking movements.Meanwhile,this topic theoretically analyzes the structural design scheme,control scheme,forward and inverse kinematics and mechanical properties,and walking motion planning of the pelvic-assisted walking training robot,and develop a prototype.Firstly,by comparing and analyzing the structure and working principle of the existing assisted walking training robot,a structural design scheme and a robot control scheme of a pelvic assisted walking training robot are proposed based on the theory of rehabilitation medicine and the law of human walking characteristics.Based on the analysis of the structure design of the robot,this paper expounds the composition and function of the key structure of the robot,and analyzes the load-bearing performance of its key components to verify the safety of the designed structure.Secondly,based on the forward and inverse kinematics analysis of the pelvic auxiliary walking unit,this paper analyzes the size parameters of the key mechanisms of the robot based on the motion laws of the pelvis and the lower limbs of the human body,and determines the size parameters of each link of the mechanism;On the basis of kinematic analysis,the mechanical model of the pelvic assisting walking unit is built,the static and dynamic analysis of the pelvic assist walking unit is carried out to figure out the required spring stiffness of the lower limb walking assist mechanism.Finally,combined with the normal human walking motion law and the structural characteristics of the pelvic-assisted walking training robot,a training motion planning method for robot-assisted continuous walking based on time-phase relationship is proposed to study the effect of different walking cycle lengths on the effect of robot-assisted patient walking.;According to the characteristics of the robot’s independent drive on both sides,a motion planning method for robot-assisted swing training is proposed to provide patients with different walking training modes.