Structural Optimization Of Rehabilitation-Type Lower Extremity Exoskeleton

This project is a research on rehabilitation of lower extremity exoskeleton,which is supported by the National Natural Science Foundation of China《Research on coordinated control method of exoskeleton with rigid-flexible coupled multi-joints actuation and one load-sensitive power source》(No.917481110).At the same time,the research is carried out jointly with Huashan Hospital.In order to help patients with lower limb muscular atrophy do rehabilitation training,this paper studies the motion mechanism of human joints and human gait.After comparing and analyzing the Rehabilitation Exoskeleton driving mode,transmission mechanism and motor,an improved optimization scheme is proposed.In this design,safety and comfort are considered,and a set of rehabilitation lower limb exoskeletons is developed.In this study,the human body model is simplified and D-H model is established.Kinematics and inverse kinematics is analyzed,and the relationship between joint rotation and posture was obtained.The corresponding seven-bar model is established for the case of single-leg support and double-leg support during walking.And the dynamic analysis is carried out,and the torque expressions of each joint are obtained.Through the dynamic simulation analysis of the simplified rehabilitation of lower extremity exoskeleton model by Adams software,the motion curve,torque and the force of the actuator frame for the rehabilitation lower extremity exoskeleton in a gait cycle were obtained.The accuracy of the simulation is verified by comparing the calculated joint torque with the calculated limit torque.Through ANSYS simulation software,the components with large proportion of the weight of each module of rehabilitation lower extremity exoskeleton are analyzed statically,the strength and stiffness of exoskeleton structure are verified,and the parts with excessive stress are optimized.After replacing the materials,the l ightweight parts are studied by topological optimization,which reduces the overall weight of the exoskeleton and makes it more portable and practical.The experimental results show that the improved rehabilitation lower extremity exoskeleton has a more reasonable structure.The weight of the optimized lower extremity exoskeleton decreases by 8.4%compared with that before optimization.The weight of the main modules has a significant lightweight trend.The improved optimization scheme is practical.