Structural Design And Performance Analysis Of A Hybrid Hip Joint Exoskeleton Rehabilitation Mechanism

The hip exoskeleton rehabilitation mechanism is an important subject in the field of robot research at present.By wearing the rehabilitation mechanism on the patients with hip injury to realize man-machine integration,and to realize the rehabilitation training of the injured hip joint.Based on the current research status of hip joint rehabilitation robots at home and abroad,according to the movement characteristics of hip joint,combined with human hip joint anatomy and ergonomics,this paper designed a(3-UCU-RRP)&R hybrid hip joint exoskeleton rehabilitation mechanism to realize the rehabilitation of hip injury patients.Through the use of spiral theory analysis,it can be concluded that the(3-UCU-RRP)&R hybrid hip exoskeleton rehabilitation mechanism has a total of 3R1 T four degrees of freedom,which can realize the forward flexion and extension,adduction and abduction,internal rotation and external rotation and circumflex movement at the hip joint.The inverse position solution of the 3-UCU-RRP parallel mechanism of the rehabilitation mechanism was analyzed by using the closed vector method and the Euler Angle coordinate transformation method,and the forward position solution of the mechanism was obtained by using the particle swarm optimization(PSO)in the numerical algorithm.On the basis of the inverse solution of the mechanism position,the velocity of the mechanism was analyzed by differential method,and the first-order velocity Jacobian matrix of the mechanism was obtained.The workspace of the mechanism was solved by using Solid Works software and Matlab software,and the correctness of the inverse position solution and workspace was verified by comparison.Based on Adams software,the(3-UCU-RRP)&R hybrid hip exoskeleton rehabilitation mechanism is used to simulate forward flexion and extension,adduction and abduction,and internal rotation and external rotation,get the displacement,velocity,acceleration,angle,angular velocity and angular acceleration curve of the agency in the rehabilitation training,it is concluded that the agency can reach the normal activity of human hip joint Angle,and has good recovery effect;Inverse kinematics simulation was carried out for the forward flexion and backward extension,inward and outward extension motion of the mechanism,and the expansion length of the driving branch chain was obtained,which provided theoretical support for the further optimization design of the mechanism.The forward and inverse kinematics simulation results of the mechanism were basically consistent,indicating the correctness of forward and inverse kinematics simulation.Establish a human-machine integration system in Any Body software,analyze the force changes and expansion length changes of related muscles when the rehabilitation organization drives the human body model to perform rehabilitation exercises,and evaluate the rehabilitation effect accordingly.The analysis results show that when the rehabilitation organization drives the human body to perform rehabilitation training,the force and stretching changes of related muscles conform to the relevant laws of human hip joint anatomy,the force and stretching changes are within a reasonable range,and will not cause secondary injury to the human body,and the rehabilitation facility has a perfect rehabilitation effect.