Design And Performance Analysis Of Knee Joint Flexion And Extension Walking Aid Mechanism

As an assistive device that enhances the body’s function during rehabilitation,wearable rehabilitation walkers have an important role to play in assisting patients with lower limb injuries to rehabilitate and re-energise their central neurons for compensation and restructuring.This paper investigates a powered knee rehabilitation walker which,as a combination of lower limb exoskeleton robotics and weight reduction rehabilitation training,is more targeted at helping individual joint injuries than traditional lower limb exoskeletons,and has structural and volume advantages.Therefore,this study has important practical implications for the development of single-joint mobility aids.This paper uses a combination of theoretical analysis and simulation,and the research mainly involves mechanical structure design and simulation tests.The details are as follows:(1)The physiological structure and movement mechanism of human lower limbs were studied,and 10 young men were recruited,they were asked to walk up and down the stairs in the experiment,and the angle information and dynamic parameters of the knee joint of the lower limbs were collected,thus,it provides an important theoretical basis for the mechanical structure design of knee joint walker.(b)The kinematics and dynamics of the exoskeleton were analyzed,and the human-computer coupling model was established by Newton Euler equations,the analysis includes forward,inverse and sagittal kinematics analysis of the knee joint,and simplifying the human body to solve the driving torque of the knee joint,which lays a theoretical foundation for the following research.(c)the kinematics analysis and simulation of the walking aid robot are carried out.According to the theoretical model and the experimental data of the knee joint movement in the gait cycle of the upper and lower floors,as well as the geometric and inertial parameters of the human body,the dynamic simulation is carried out in MATLAB,the kinematics simulation is carried out by using Adams,and the rationality of the design of the mechanism is confirmed,which can meet the need of the help of the wearer in the scene of going up and down stairs.The knee walker designed in this thesis has a reasonable structure,is simple to manufacture,easy to wear and has good human-machine coordination.It provides a reference for the simplification of related structures of lower limb exoskeletons and lays the foundation for the further design of subsequent single joint mobility devices.