Key Technology Research Of The Wearable Exoskeleton With FES For Drop Foot

Functional Electrical Stimulation and ankle exoskeleton are the two methods of rehabilitation training to help the patients with drop foot to recover the ankle joint.Functional Electrical Stimulation can be used to help drop foot walk,but it is easy to cause muscle fatigue that is stimulated and is poor controllability;ankle exoskeleton can help the patients with drop foot to undergo rehabilitation training,but the autonomy of the muscles is ignored,in addition,exoskeleton is limited to quality,power,and energy supply.In view of the above conditions,the method of combining functional electrical stimulat ion with ankle exoskeleton is presented;on the one hand,it makes full use of the autonomy of the muscle function of the patient,on the other hand,it can make use of the exoskeleton of the ankle to compensate for the deficiency of muscle power.The use of functional electrical stimulation not only exerts the ability of muscle contraction,but also reduces the demand for motor and power,so a smaller motor and power source can be chosen,meanwhile it enhances the portability and wearability of the whole exoskeleton.The combination of functional electrical stimulation and the ankle exoskeleton is designed to assist drop foot to walk and help them undergo rehabilitation training.It is an important subject in the field of rehabilitation to help drop foot complete their walking,adapt to the daily life and gradually recover,and it has important social significance and academic value.The main research contents in the paper are listed as follows:(1)The detection method of the state of lower extremity movement : Firstly,the human gait is analyzed and summarized to provide the theoretical basis for the design and control of the ankle exoskeleton;Secondly,the gait phase of normal people is divided under the condition of flat walking;Based on the analysis of the existing methods of lower limb gait detection,a gait detection method for ankle dorsiflexion assist mechanism is proposed.At the same time,the software and hardware structure of the lower limb state phase detection system is completed,and experiments are done to verify the feasibility of the method.(2)Design the structure of the ankle exoskeleton,the design of a kind of convenient,small and light weight ankle exoskeleton for the drop foot.Firstly,the kinematics and dynamics of the ankle joint are ana lyzed,and the overall configuration of the back flexion mechanism of the ankle is proposed;the key parameters of the ankle exoskeleton are analyzed and calculated;the whole structure of the ankle exoskeleton is determined;Secondly,according to the kinematics and dynamics of the ankle joint,the kinematics and dynamics simulation of the back flexion mechanism of the foot and ankle is carried out;Finally,the energy consumption of the exoskeleton is theoretically analyzed.(3)The design of the functional electrical stimulation.The hardware system of the function electrical stimulation module is designed,which includes the single chip microcomputer control module,the boost module,the electric stimulation module and the power supply regulator module;the software part of the unit is designed,which mainly includes the processing program of the stimulus source signal and the program realization of the single chip computer control system;finally,the function of the designed FES unit is verified.(4)Drop foot rehabilitation system and its experimental research: Firstly,the prototype of the ankle exoskeleton is made,including the selection of key components,the purchase,the design of non-standard parts,the processing and assembly of the non-standard parts;Secondly,the platform of the ankle exoskeleton is set up,the hardware of the control system is designed,and the control system software is written.Finally,the experimental study of the rehabilitation system of drop foot is carried out and the experimental results are analyzed...