Design And Implementation Of Generalized Preferential Robots For Accurate Rehabilitation Of The Lower Limbs

Rehabilitation therapy is the main way to reduce disability rate and improve the quality of life of patients.A large number of patients still need rehabilitation training in community and family after treatment in hospital.Community and family have become the main battlefield of rehabilitation training to promote people with limb dysfunction to gradually recover self-care ability.The height and leg length of different patients are different,and there are individual differences in the rehabilitation training track,range and intensity required by the same patient in different rehabilitation stages.It is easy for patients to form abnormal movements in extensive rehabilitation training,which may have little effect of rehabilitation.High-end rehabilitation robot can meet the needs of patients with precise rehabilitation training,but it is difficult to popularize and promote in the community and family because of high price and complex operation.This paper mainly studies the rehabilitation robot which is suitable for community and family use and can accurately realize personalized training of patients' lower limbs.The main research contents are as follows:In the first chapter,under this background that limb disability exists in large numbers especially in our country,the feasibility of rehabilitation therapy with rehabilitation robot is expounded,and the development status of rehabilitation robots at home and abroad is reviewed.Owing to the development requirements of generalized preference,intelligence and personality,the research direction and content of precise training rehabilitation robot for lower limbs are established.In the second chapter,accurate and effective sports physiological information is the basis of precise rehabilitation training.In order to guarantee the precision of rehabilitation training for different individuals in different rehabilitation period,a multi-source information perception system integrating EMG signals,plantar pressure,range of motion of joints and pulse signal is developed according to the rehabilitation effect evaluation index.The performance calibration and experimental verification are carried out,which provides a platform for the development and evaluation of the robot.The third chapter,owing to the lack of quantitative training basis of the generalized preferential treadmill rehabilitation training device,the effects of sitting posture,length and speed of the crank on hip and knee joint are analyzed,which provides reference for precise rehabilitation training.In order to meet the demand of precise rehabilitation training,due to the shortage of the treadmill rehabilitation training device with single motion trajectory,a combined multi-position lower limb rehabilitation robot is designed.The robot not only is suitable for both the community and the family,but also can precisely realize the personalized training trajectory and amplitude.The feasibility of the robot is verified in theory and engineering practice.In the fourth chapter,in order to improve the training effect of generalized preferential lower limb robot with precise rehabilitation,the key issues of isokinetic training are studied.The regularity and process of isokinetic motion of hip and knee joint are analyzed.A control strategy of isokinetic training of hip and knee joint is put forward,which is also simulated and verified.In the fifth chapter,In order to better adapt to the community and family and realize the integration of man,machine and environment,a hybrid driving flexible mechanism with variable trajectory,adjustable amplitude,folding and grafting is proposed.The influence of linkage elements on motion trajectory and amplitude is analyzed.To solve the problem of dimensional synthesis of four bar linkages with fixed trajectories,a hybrid genetic quasi-Newton algorithm for rod length optimization is proposed.In the sixth chapter,the robot designed in the fifth chapter is analyzed and verified.The feasibility of the robot is verified by kinematics.The dynamics analysis provides the basis for robot compliance control.The control system and human-computer interaction platform are developed.The prototype test shows that the robot can achieve same/asynchronous active and passive limb coordination rehabilitation training and different trajectory accurately,which is applicable for community and family.In the seventh chapter,the research work is summarized and the future research work is prospected.