Research On Lower Limb Exoskeleton Robot Based On Wearing Comfort

For assisting patients who are not able to walk properly in finishing human lower limb rehabilitation training well,this topic which takes rehabilitation lower limb exoskeleton robots as target,designs a comfortable and safe exoskeleton robot by means of theoretical analysis,simulation,prototype test and so on.Besides,this topic takes relevant experiments which built on the interface comfort in wearing comfort.There are concrete contents below:(1)According to the functional requirements and comfort requirements of the exoskeleton robot,the mechanism of human lower limb movement was analyzed,and the comfort evaluation mechanism was established;the structural design of the lower limb exoskeleton robot was completed,and a control scheme of the lower limb exoskeleton was proposed,and the Complete design of lower extremity exoskeleton system.(2)On the basis of the D-H method and the geometric method of the exoskeleton model,the analysis of the forward and inverse kinematics of the exoskeleton model is finished.By using the Lagrangian equation method,the joint torque equations with respect to one's disparate state of motion during moving process is deduced.The gait planning of the exoskeleton robot is carried out.Combined with the ADAMS simulation software,the simulation analysis of the human body and the exoskeleton walking together was completed,and the physical prototype development and the human-exoskeleton level walking test analysis were carried out,which verified that the lower limb exoskeleton model has good human-machine collaboration.(3)By using the ANSYS Workbench software,the statics analysis of the structure of lower limb exoskeleton under separate state of motion is completed: by means of modal analysis under the condition of whether the exoskeleton has prestressing force,the natural frequency and the mode of vibration of the lower limb exoskeleton robot is defined,and the safety of the structure which is designed in the thesis is verified.In addition to this,the theory foundation of later detection and maintenance of the machine is established.(4)On the basis of the mechanism of comfort evaluation which is built in the thesis,an experiment of comfort of verification interface is designed.By means of pressure sensor and the imprint offset measurement,the pressure and slip variation of man-machine interface settings during moving process can be detected.Finally,the results of the experiment which were analyzed can be proofed the feasibility of the whole programme.