Design And Research On Hip Joint Of Lower Limb Rehabilitation Robot

In recent years,the aging population and issues such as accidental injuries have led to an increasing number of hip joint limb injuries,seriously affecting the daily life and work of patients.As one of the most important joints in the lower limbs of the human body,the hip joint plays a role in maintaining balance and achieving lower limb movement.Due to the fact that patients may still have varying degrees of motor disorders after receiving treatment,rehabilitation training is necessary to restore lower limb motor function.Due to the excessive reliance on rehabilitation physicians and low rehabilitation efficiency in traditional rehabilitation training,the research on rehabilitation robots has received much attention.As a more efficient way of rehabilitation training,rehabilitation robots have helped patients and rehabilitation physicians achieve precise rehabilitation training to the greatest extent possible.However,existing rehabilitation robots still have problems such as complex structure,insufficient motion coordination,and weak applicability.Therefore,this article designs a new type of rehabilitation robot hip joint structure for patients in the middle and later stages of hip joint rehabilitation,and conducts research around it.The main work content is as follows:(1)Firstly,based on human anatomy and ergonomics,the motion mechanism of the hip joint is analyzed,the structural design scheme for the rehabilitation robot hip joint is proposed,and the degrees of freedom and size parameters are determined.Secondly,design the hip joint structure of rehabilitation robot,in which the flexion/extension degrees of freedom are selected in the form of flexible driving,and rope driving is used instead of rigid component driving to achieve rehabilitation movement,reducing motion inertia and enhancing the flexibility of the structure,no driving is added for the adduction/abduction and internal/external rotation degrees of freedom;the adduction/abduction degree of freedom is equipped with a size adjustment device to enhance crowd applicability;in the design of internal/external rotation degree of freedom incorporates hip rotation degree of freedom to improve movement flexibility.Once again,select drive components such as motors.Finally,mechanical analysis is conducted on the main components to verify the reliability of the hip joint structure of the rehabilitation robot.(2)Based on the D-H parameter method,the kinematics model of the rehabilitation robot’s hip joint is established,the forward kinematics equation is derived,and the end pose matrix is analyzed and calculated.The inverse kinematics equation is solved based on Paul’s inverse transformation method.Determine the workspace of the rehabilitation robot’s hip joint based on the Monte Carlo method.Through the kinematics simulation and simulation analysis,the rationality of the hip joint structure design of the rehabilitation robot is verified.(3)Establish a dynamic model of the hip joint of the rehabilitation robot based on the Lagrange method,and derive the dynamic equation.The rationality of driving system selection is verified through dynamic simulation analysis on the hip joint of the rehabilitation robot.Based on the quintic polynomial interpolation method and spatial straight line interpolation method,the trajectory planning for the hip joint of the rehabilitation robot is designed and simulated,verifying the continuity and stability of the hip joint motion of the rehabilitation robot.(4)By using a 3D dynamic capture system to measure the hip joint motion data of the human body during normal hip joint flexion and abduction movements.An experimental platform for the hip joint of the rehabilitation robot is built,passive rehabilitation training experiments for hip joint flexion,walking,and hip joint abduction rehabilitation training experiments are completed,verifying the correctness of the hip joint structural design of the rehabilitation robot.