Design And Research On Passive Gait Rehabilitation Trainer

The rehabilitative robot is an important offset of the medical robot, has been an research hotspot in the field of the international robot, its study has the important meaning. The passive gait rehabilitation trainer is new type rehabilitation medical equipment, the hemiplegia and the lower limbs impediment patient is the main object, it gives prominence to the rehabilitation training on the anklebone to realize the healing purpose. The main results in this dissertation are as follows.According as the research of the gait theory as the normal stepped, analyze the theory mechanism model of the machine, using the ADAMS to set up its theory model, to realize the kinematics and the mechanical simulation, to get the mechanism parameters of the feet's footplate track and gesture to,then analyze the data to experiment and simulate repeatly for the mechanical model to find out the model of the adapt for the normal human being's stepping.The gait rehabilitative trainer's three-dimension's machinical frame is designed by the software of Pro/e, it realize the purpose for the simulation of the gait trail and the feet's gesture. It design the controlling system to finish the controlling panel to show the training time and degree, the system is derived by the direct current servomotors, and its velocity is adjusted.At the end, this paper introduces the experiment with the gait rehabilitative machine, using the dynamometer insole and the joint angle measure equipment to measure the press data of the sole and joint, analyze the gait character and the lower limbs movement joint angle character, and finally discuss the rationality of the design.