Active Walking Rehabilitation Equipment Structural Design And Dynamics Simulation

In this research, we design a kind of rehabilitative equipment for patients with lower limb paralysis; it can be controlled independently by patients who can participate in the rehabilitation process. In the past, most people were focus on the result of therapy, while neglecting the process of rehabilitation in the latter life and leading a large number of complications. Some seriously affected the quality of people's life. Therefore, rehabilitation techniques have developed into an emerging technology which involves a multidisciplinary research field in recent years.We put forward a lower limb rehabilitation equipment design project for the specified patients in this paper through the consultation of a lot of abroad and home literature and the analysis on the basis of lower limb rehabilitative equipment researches.First of all, this paper studied the movement mechanism of the patients' lower limb paralysis, and established the mathematical model of movement. In considering the design idea that we should give patients more opportunities to participate in rehabilitation training, we designed the active biped rehabilitative equipment. Legs and waist of the equipment are designed adjustable to suit different patients. We use Pro/E for a three-dimensional modeling and assembly of the rehabilitative equipment, and analyze a variety of rehabilitative equipment physical parameters and mechanical parameters. Secondly, we establish the dynamics differential equations of system center of mass and get the system center of mass's motive equations on the principle that the outside forces to the system center of mass are offset in order to make the system keeping a stable walking method. The boundary conditions of swing phase and one leg support phase are established respectively. Finally, we use virtual prototype technology for system simulation of kinematics and dynamics. The other relevant data such as the velocity and acceleration are obtained using ADAMS. We analyze the influence by patient's swing to the walking stability of rehabilitative equipment during the walking process. The simulation results show that the rehabilitative equipment we designed can meet the conditions for a stable walking.