Based On The Series Elastic Actuator Of The Exoskeleton Type Of Lower Limb Rehabilitation Robot Research

As an important branch of medical robots,the research of rehabilitation robot run through fields like rehabilitation medicine,biomechanics,mechanics,computer science and robotics,and has been widely used in nursing,prosthesis and rehabilitation,etc.Due to its action object is human body,so its design must meet the basic requirements such as safety,comfortable and effectiveness.Exoskeleton type of lower limb rehabilitation robot is a kind of rehabilitation robots,it is mainly used to help patients achieve its lower limb motor function recovery of each joint.At present,a wide variety of exoskeleton type rehabilitation robots have developed at home and abroad.Based on analysis of the existing exoskeleton type rehabilitation robot,this paper put forward a kind of novel lower limb gait training rehabilitation facility suitable for knee and ankle joint of the human body.In this paper,the main work is as follows:Synthesis of the exoskeleton type of lower limb rehabilitation facility based on the series elastic actuator.First,on the basis of detailed analysis of the damage,composition,structure,treatment and rehabilitation methods each joint in the lower limbs,the movement of each joint way and rehabilitation needs,and the exoskeleton type lower limb rehabilitation facility design principles,a kind of novel,compact,compliant lower limb gait training rehabilitation institutions suitable for each joint of the human body;Then human body normal range of motion of each joint of lower limbs was determined based on the experimental method.Finally,the institutional dimension synthesis was completed based on the ADAMS software to carry on the design research to the rehabilitation group,with meeting the agency minimum quantitative as the goal,realizing its function demands and nonnal movement as constraint conditions and member length as design variables.Kinematics simulation analysis of the exoskeleton type of lower limb rehabilitation facility.With the lower limb position,velocity of each joint data(work space)of the human body walking in normal speed as the foundation,kinematics simulation of the exoskeleton type of lower limb rehabilitation institutions was analyzed from the aspects of inverse kinematics using the ADAMS software,and then validated from the aspects of forward kinematics.Thus the simulation results can provide theoretical basis for the design and type selection series elastic actuator.The exoskeleton type of lower limb rehabilitation facility’s series elastic actuator design.First,structure principle,working principle and its advantages in the robot applications of the series elastic actuator were elaborated,and specific application case is given to prove the actuator have obvious advantages in practice;Then,this paper put forward the use of novel series elastic actuator structure,design,etc.;Finally,based on the function of the lower limb rehabilitation robot exoskeleton type and size limitation,a series elastic actuator of motor drive was established,along with its various components design and type selection including motor selection,the choice of the torsion spring and linear spring,calculation and selection of ball screw,the design of the gear and determine and so on.And the series elastic actuator of the three-dimensional structure model drive was established.