The Structure Of The Lower Limbs Paraplegia Recovery Walking Machine Design And Simulation Analysis

Nowadays, all kinds of accidents and natural disasters occur frequently, and Spinal Cord Injury (SCI) has become a common disease. For patients with SCI, standing and walking training has a very important role in their rehabilitation. The traditional walking rehabilitation was artificially assisted which made therapists bear the heavy labor and the patient lack the initiative. The traditional rehabilitation artificially assisted was less effective. Therefore, designing the walking rehabilitation equipment for the paraplegics actively participating was very necessary.Based on the research of lower limb rehabilitation equipment at home and abroad, a paraplegia rehabilitation parapodium for SCI patients with the perfect upper limb was designed and analyzed. The contents of the research were as follows:(1)Based on the study of the human lower limbs structure, combined with the design requirements for paraplegia rehabilitation parapodium, the mechanism model of the human walking rehabilitation system was established, and the kinematics and dynamics analysis was done.(2)The walking gait of common people was analyzed, according to the gait theory, the pedestrian movement pattern of the paraplegia rehabilitation parapodium was planned out, and the control strategy of the paraplegia rehabilitation parapodium was analyzed.(3)On the platform of ADAMS, the virtual prototype model of the paraplegia rehabilitation parapodium was established:the three-dimension model of various components was established and the virtual assembly of the walking machine was completed by Pro/E, virtual prototype model was built using ADAMS.(4)Based on the single-foot supporting model, according to the theory of zero moment point (ZMP) and the design requirements of the paraplegia rehabilitation parapodium, the stable walking condition of the paraplegia rehabilitation parapodium was given.(5)By ADAMS, the key parts of the virtual prototype was simulated, then the main properties of paraplegia rehabilitation parapodium were analyzed and evaluated.