Design And Research Of Rehabilitation Rower Limb Exoskeleton

As a kind of man-machine coupling intelligent assist device,exoskeleton is one of the hotspots in the field of robot research.The rehabilitation lower limb exoskeleton is mainly for the elderly and patients with lower limb movement disorders to help them complete daily walking or rehabilitation training.At present,the rehabilitation lower limb exoskeleton products on the market have large volume,high energy consumption and rigid posture generally.The stability of the system and the comfort of users are not ideal.In view of the above problems,this paper designs a set of lower limb exoskeleton equipment with simple structure,comfortable wear and flexible joints on the basis of in-depth analysis of the physiological and motion parameters of Oriental and the requirements of rehabilitation training.At the same time,in order to reduce the rigid impact caused by the contact between the plantar and the ground during the walking process of the mechanism,passive energy absorption components are added to the ankle joint to improve the force of the ankle joint and improve the flexibility of the system.The main contents of this paper are as follows:(1)Based on the principles of human-machine isomorphism,safety and comfort,and aiming at the problems of large volume and poor compliance of existing products,the structure and parameters of rehabilitation lower limb exoskeleton are designed in detail.The design results are established by Solid Works,which provides a virtual prototype for subsequent simulation experiments.(2)In order to further study the motion characteristics and joint torque changes of exoskeleton,the kinematics and dynamics models of the system are established by using D-H parameter method and Lagrange equation.The correctness of the above model is verified by comparing the results of MATLAB theoretical calculation and ADAMS simulation test.(3)Aiming at the problem of excessive impact torque of the joint,a passive flexible ankle joint based on the principle of pneumatic spring assistance is designed,and the dynamic model of the joint is established.The simulation analysis was carried out by ADAMS software to verify the rationality of the design.(4)In order to obtain the optimal parameters of ankle joint flexible design,the human-machine coupling kinematics and dynamics simulation of exoskeleton were carried out.By comparing the dynamic simulation tests under different spring stiffness parameters,it is found that when the optimal stiffness is 50 N / mm,the impact torque of each joint is reduced by 64.4 % on average,and the energy consumption of the driving motor of the active driving joint is reduced by 8.8 %.The simulation results show that the flexible ankle joint can effectively reduce the impact torque of each joint and greatly improve the dynamic performance of the exoskeleton.