Design And Analysis Of Active Knee Hyperextension Rehabilitation Exoskeleton

Knee hyperextension is one of the common symptoms of stroke patients with hemiplegia at home and abroad.With the increase in the number of patients,traditional rehabilitation methods that rely on medical staff and related experts have become increasingly unable to meet the rehabilitation needs of patients.The knee hyperextension rehabilitation exoskeleton can effectively correct the knee hyperextension gait by adopting predictive and compensatory postures for the patient.The existing exoskeleton for knee hyperextension is unable to enable patients to achieve flexible and independent rehabilitation training because it generally adopts passive mechanical angle restriction or direct locking to prevent the patient’s knee from entering the hyperextension position.Based on the deficiencies of the existing exoskeleton,an active knee hyperextension rehabilitation exoskeleton device is designed according to the gait characteristics and pathogenesis of knee hyperextension patients,and Simulation and experiment are also carried out.First of all,under the premise of analyzing the texture of the research object,the characteristics of abnormal gait of patients with knee hyperextension is discussed through a comparative analysis of the gait of healthy people and patients.Furthermore,the overall design guidelines of knee hyperextension rehabilitation exoskeleton is proposed based on the characteristics of the patients’ abnormal gait.Secondly,based on the design criteria,the key modules of the exoskeleton is modeled with parameters,and the optimal parameters of the key modules of the whole machine structure were obtained.On this basis,the kinematics and dynamics of the human-machine coupling model is analyzed respectively for the three typical rehabilitation training methods of patients with knee hyperextension.Furthermore,based on the ADAMS simulation platform,the above three coupling models is simulated and analyzed,and the required motor parameters is obtained.Finally,on the basis of the optimal size of key modules and the motor parameters above,the overall structure is designed and the experimental platform is built.Furthermore,the overall effect of position control and power assist is verified respectively.Experiments have shown that the knee hyperextension rehabilitation exoskeleton device can actively control the knee joint movement,prevent the patient’s knee joint from entering the hyperextension position,and can provide assistance to the patient during the exercise.