Design Analysis And Experiment Research For An Exoskeleton Lower Limb Rehabilitation Robot

With the development of society, our country has entered the aging country ranks.There are a lot of patients with paraplegia, hemiplegia and other lower limb movementdisorders in the ageing population, coupled with the spinal cord disabilities due toaccidents, natural disasters and other reasons caused, this huge lower limb movementdisorders population needs more effective and more intelligent rehabilitation trainingequipment. Therefore, the lower limb rehabilitation robot research has very importantpractical significance and application value.Taking into account the characteristics of human lower limb movement in the sagittalplane, this paper introduces the virtual prototype design, mechanical working principleand the physical prototype manufacturing for an exoskeletal lower limb rehabilitationrobot.This paper imports human lower limb model into the single leg mechanism model ofthe rehabilitation robot, and establishes a unilateral man-machine model consideringhuman factors. Based on the concept of HAM, the kinematic analysis and human-machinedynamics modeling are completed, which is the reference for the control of rehabilitationrobot.Secondly, the virtual prototype model of the rehabilitation robot established bySolidworks software is imported into ADAMS software, then the single leg mechanismmodel is reserved and a unilateral man-machine model is obtained by combining thesingle leg mechanism model with the human lower limb model. On this basis, the forwardsolution and the inverse solution of kinematics analysis, validation and human-machinedynamic simulation are completed. Using ADAMS software is simple and intuitive thanthe theoretical derivation in completing the forward solution and the inverse solution ofkinematics.Rehabilitation robot control system is outlined. The computed torque methodconsidering dynamic factor is described. The two cases experiment data are randomlyselected form 31 clinical cases experiment data, the joint torque sensor data is imported into ADAMS software and is compared with simulation data. It is proved that ADAMSsimulation curve can be used as robot structure optimization, component selection,dynamic performance optimization and motion control reference data. In the end, thecauses of experimental data errors are analyzed.