Design And Research Of Lower Limb Rehabilitation Training Robot

The research in this paper is a rehabilitation robot for lower limb training.The lower limb vibration training rehabilitation robot mainly includes a bionic lower limb movement mechanism,a running frame and a vertical vibration device.It uses a bionic lower limb movement mechanism combined with a running frame and a vertical vibration device to simulate human walking for lower limb rehabilitation training.The bionic lower limb movement mechanism is worn on the patient to fit the lower limb movement and overcome the own gravity movement of the leg.The cyclic gait movement also enables the patient to form neuromuscular memory.The synergy of the various mechanisms greatly improves the chance of rehabilitation.The high-frequency rapid vibration wave generated by the vertical vibration device can cause the efficiency of muscle contraction to be improved,so that the patient’s muscles and joints can be exercised to gradually restore the normal activities of the joints and muscles,and finally the patient can recover.This research carried out a three-dimensional modeling of the overall structure,and described the important components of the overall structure,the connection mode,the movement mechanism and the rehabilitation training program.The bionic lower limb movement mechanism is simplified into a linkage mechanism model,and the movement process of the robot is analyzed by the analytical method,and the movement equations and movement parameters of each component are deduced.The ADAMS simulation software was used to simulate the motion speed of the thigh link and the calf link in the bionic lower limb motion mechanism,and the motion angle range of the hip and knee joints was also simulated and analyzed.The mechanism and application of vertical vibration technology are clarified,and the parameter values of vibration frequency are studied and analyzed.The static analysis and modal analysis of the running frame were carried out using ANASYS software.The general solution of the single-degree-of-freedom damped forced vibration of the voice coil motor in the vertical vibration device is calculated,and the motion displacement image is made by MATLAB software.Vibration analysis was also carried out on the spring of related cooperative vibration.Through theoretical calculation,the change of the spring’s center of mass movement,momentum and position over time was illustrated.Carry out static stiffness test and vibration test on the damping pad to verify whether the damping pad meets the requirements of damping characteristics in the vertical vibration device.The damping pad reduces the secondary impact of mechanical resonance and undesirable vibration on the human body during the vibration process.This article is a theoretical innovation and practical application of the lower limb rehabilitation training robot,which provides a certain reference for the development of other related equipment.