Structural Design Of Rehabilitation Training Device For Lower Limb Sit-to-stand Conversion

With the aggravation of the aging of our society in China,stroke patients with hemiplegia,traffic accidents and other accidents caused by lower limb dysfunction patients gradually increase,the use of rehabilitation equipment has become more and more valuable.In order to train and recover the sit-to-stand conversion motor function of patients with lower limb dysfunction,it is an urgent problem to study the rehabilitation training system.Therefore,based on the research background of rehabilitation training device,through theoretical analysis,combined with simulation and experiment,an intelligent control device is designed to assist the patients with lower limb dysfunction to complete the services of sit-to-stand conversion rehabilitation training according to the planned movement track,the main research work is as follows:Based on the research and development of the lower limb rehabilitation device at home and abroad,firstly,the theoretical analysis of the lower limb rehabilitation is carried out,including the structural composition of the human lower limb,the theory of the lower limb rehabilitation exercise,the rehabilitation training method and the analysis of the process of the lower limb sit-to-stand conversion exercise.On this basis,the kinematics model of the standing process in the conversion of lower limb sit-to-stand is established,and the trajectory equation of standing motion is solved,and the simulation calculation of the motion model is carried out.At the same time,the dynamic model of the lower limb sit-to-stand conversion is established,and the moment balance equations of each joint of the lower limb are solved based on the Lagrangian method.Secondly,the optical motion capture system is used to measure and analyze the process of human sit-to-stand conversion,and the trajectory of sit-to-stand conversion of human body with different height and weight at different speeds is obtained.Then,on the basis of theoretical analysis and experimental data,the mechanical structure of the rehabilitation training device is designed.In order to verify the rationality of the structure,the static simulation analysis of the key parts of the device is carried out.According to the motion track obtained from the sit-to-stand conversion test,the motion joint analysis and motion inverse solution analysis of the rehabilitation training device are carried out,and the motion simulation analysis of the mechanism is carried out,thesimulation results show that the deviation between the simulation trajectory and the experimental trajectory is small.Finally,according to the relationship between the structure position and the size of the design,a prototype of the device and a rehabilitation training system of sit-to-stand conversion are built.In addition,the experiment of sit-to-stand conversion of lower limbs in healthy human body was carried out,the plantar pressure test results verify the rationality of the performance of the rehabilitation training device.The results of movement track test verify that the rehabilitation training device can realize the rehabilitation training of patients with lower limb dysfunction according to the planned movement track.It has important theoretical and practical significance to the design and research of rehabilitation training device and to improve the training problem of lower limb rehabilitation.