| In today’s society,the problem of aging in China is becoming more and more serious,and there is a huge market demand for products to assist the aged,and lower limb movement difficulties have always been a major problem faced by the elderly.However,there are currently no lower limb walkers for the elderly on the market.Therefore,this paper studies a lower limb non-powered exoskeleton robot that integrates IOT and intelligence for the elderly and its matching wearable intelligent health monitoring system.The main contents of this thesis are as follows:(1)The increasingly severe aging situation in China and the lower limb movement disorders faced by the elderly are discussed.Then,the development status of the unpowered lower limb exoskeleton and gait information collection are reviewed,the current research status and future development direction of the unpowered lower limb exoskeleton are summarized,and the existing problems in assisting the elderly to walk are clarified.(2)The design of non-dynamic lower limb exoskeleton requires kinematic data.The biomechanical model of the human lower limb was established using Animat Lab,and a neural network controller with biological characteristics was proposed,including biomechanical model and synthetic nervous system.The model was based on linear Hill muscle model and integrationand-fire neuron model.This model is more similar to the natural walking of human body,and its output dynamic data is dynamic and continuous in time,which lays the foundation for the following research.(3)The detection system based on camera image processing collects gait information,and completes data processing with MATLAB software correlation algorithm,which provides dynamic data for the design of the non-dynamic lower limb exoskeleton,and verifies the correctness of the lower limb skeleton model through data.(4)Combine the simulation data with the test data with ADAMS software to determine the internal driving torque of each joint,and design the external skeleton structure,such as the waist structure design,hip joint structure design,energy storage device design,etc.The exoskeleton mimics the contraction and relaxation of human muscles,and the three-dimensional modeling of the exoskeleton is completed with Solidworks.Finally,the rigid strength of weak parts is checked with ANSYS software,and the exoskeleton is processed according to the drawings after selecting materials.(5)Complete the design of wearable intelligent health monitoring system.Select hardware modules such as microcontroller and sensor;The software design of data transmission is discussed.Aiming at the characteristics of the elderly,the human-computer interaction interface of the APP is designed.Finally,hardware devices such as sensors are loaded into the exoskeleton device to debug the intelligent monitoring system.In this paper,the unpowered lower extremity exoskeleton and its health monitoring system are studied,the establishment of lower extremity skeleton model and related principles are discussed in detail,and the accuracy of lower extremity skeleton model is verified by collecting gait information and analyzing data.Combined with the simulation data of lower limb skeleton model and gait information collection data,the rational design scheme of lower limb nonpowered exoskeleton was determined.Finally,the design of wearable intelligent health monitoring system and the processing of physical objects were completed. |
