Design Of Lower Limb Rehabilitation Device And Realization Of Remote Information Interaction System

The research and promotion of small-scale rehabilitation treatment equipment has a positive effect on improving the current situation of insufficient popularization of rehabilitation supporting resources in China,improving the rehabilitation quality of patients with limb injury and reducing the cost of rehabilitation treatment.The optimization object of this subject is the existing continuous passive motion(CPM)training machine for lower limbs on the market.By referring to its structure and function,design and build a prototype of lower limb rehabilitation device.It is superior to the former in terms of human-robot interaction method,control strategy and system function integration degree,and is applicable to a wider audience.The main contents of this article are as follows:In order to solve the problem that the ankle joint training function of lower limb CPM machine is lack of angle controllability,proposed a solution of add reciprocating mechanism.By analyzing the structure model of the lower limb of the human body and simplifying it reasonably,establish a kinematics and dynamics mathematical model of the human-robot system for unilateral lower limb,and complete the digital assembly modeling of the device structure in the UG software according to the actual situation.Complete the kinematics and dynamics simulation verification of the model in Robotics Toolbox and ADAMS/View,and finally complete the construction of the prototype mechanical structure.Aiming at the problem that the single passive rehabilitation training of the lower limb CPM machine cannot cover the training content of different rehabilitation stages,according to the clinical muscle strength classification method and modern rehabilitation theory,adopt a progressive rehabilitation strategy that combines active and passive training.Firstly,complete the equipment power system selection and control system simulation.Secondly,design and development a multi-source information perception system,which can provide information required for lower limb muscle strength evaluation and motion intention sensing.The collection test results show that the muscle strength evaluation method based on threshold classifier is feasible and can be applied in active training mode.Complete embedded system development based on STM32+RTOS+GUI,and realize equipment software and hardware collaboration.Integrated motor control,sensor information collection and analysis,human-computer interaction interface and other functions.Provide patients with active and passive rehabilitation training modes and auxiliary functions such as equipment status monitoring,health monitoring,and environmental monitoring.Through the OneNET cloud platform developer center of China Mobile Internet of things,the remote information interaction system of lower limb rehabilitation device is designed to realize the upload of training data,equipment status,user physiological status and other information and the design of visual interface,as well as the sending of training parameters set by doctors,email reminder and other basic Io T functions.Finally,human-robot test experiments are carried out under limited conditions.The comprehensive experimental results show that the equipment is stable and reliable,can complete all design functions normally,and meet design expectations.