Research On The Design And Optimization Of Multi-Intelligence Flexible Rehabilitation Exoskeleton

With the increase of world population,the aging population has accounted for12.8% of the total population,which makes the number of patients with stroke and hemiplegia of lower limbs increase sharply and become an urgent problem to be solved by the society.Therefore,the development prospect of lower limb rehabilitation training robots is considerable,but the current lower limb rehabilitation robots are not intelligent enough,and the training method is too monotonous,so this kind of products are greatly limited.It can make the patients with hemiplegia of lower limbs get rehabilitation training,remove the single fixed standing or lying flat in bed training method,and realize the multi-posture intelligent rehabilitation training.The combination of standing bed and lower limb exoskeleton is carried out to design and optimize the multi-position intelligent flexible lower limb rehabilitation exoskeleton.Considering the light weight,flexibility and intelligence of the lower limb exoskeleton,the overall structure was designed in combination with the physiological structure of the lower limb,including the motor drive of the lower limb hip and knee joint,the bevel gear drive and the adjustment and limit device,and the rehabilitation training of the lower limb hip and knee joint was completed.The reliability of the lower extremity exoskeleton structure is proved by the modal analysis and the static analysis of the single leg exoskeleton.At the same time,dynamic modeling and kinematics modeling were used to verify the rationality of the design of the lower extremity exoskeleton.Study more than appearance standing bed function,at the same time,consideration and the synergistic effect of lower limb exoskeleton,security,for more than appearance standing bed structure design,including the bed body to stand up and lift move across electric push rod drive and linear slide drive,realize the bed body of0-90 ° rotation,the rise and fall of hip joints,and the adjustment of the span,preventing orthostatic hypotension caused by secondary damage.The hardware control system is the core of the whole control of the lower extremity exoskeleton,and also the intermediate hub between the standing bed and the lower extremity skeleton.For the control system to carry out unilateral training,compound training and evaluation training mode three modes and PID fuzzy control algorithm overall design.The core controller of the passive hardware control system is selected as STM32 MCU,and the Angle sensor and pressure sensor areselected.According to the required function to improve the entire control system circuit diagram,and the hardware and control system connection debugging.Several lower limb rehabilitation exoskeleton samples were built and the control system was built.The exoskeleton,the standing bed and the control system were tested.Through the test of the actual prototype,the Angle change and simulation comparison of hip joint,knee joint and standing bed movement and the displacement and simulation comparison of cross-movement of lifting movement were obtained.According to the comparison results,the rationality of the control system and structure design of the multi-limb exoskeleton was proved.