Research On Wearable Lower Limb Exoskeleton Rehabilitation Robot

With the patient who have lower limb dyskinesia is gradually growing year by year,the demand for lower limb rehabilitation robot is increasing.Aiming at human comfort during rehabilitation,the exoskeleton structure of lower limbs was designed based on the optimization results of inverse kinematics of lower limbs.By establishing man-machine coupling dynamics model,the influence of binding position and material on man-machine contact force was investigated,the change rule of muscle metabolism value of lower limb was analyzed,and the control method of exoskeleton based on comfort was proposed.The main work as follows:Based on Open Sim,a high-precision musculoskeletal model of human body was established to explore the solution method of joint movement rule of a specific individual’s normal gait.By comparison,the error of RRA algorithm is smaller than IK algorithm.Based on Matlab/Simulink method,the variation rule of hip,knee and ankle joint torque during the normal gait of the lower limb rehabilitation robot was obtained.Based on human comfort,a man-machine coupling dynamics model was established,and the flexibility of the strap and human body was completed.Using Ansys and Adams joint simulation,the influence of the dimensionless position of the strap on the contact force of the leg was explored.Wearing comfort provides the parameters.To satisfy different recovery stages of rehabilitation,based on the notepad++programming environment,implements the human body and exoskeletons coupling,no wear and wear walking exoskeleton body muscle metabolic analysis,get the rule of a gait cycle muscle metabolic changes,the results show that wear lower limb rehabilitation robot can provide help in accordance with the requirements for rehabilitation effect.Based on the requirements of rehabilitation comfort,a fuzzy PID control algorithm was proposed.Compared with PID,it was found that the lower limb rehabilitation robot controlled by fuzzy PID could follow the law of human movement more quickly.Figure 88;Table 17;Reference 65...