Design And Research Of Lower Limb Rehabilitation Exoskeleton For Children With Cerebral Pals

Cerebral palsy is a common motor development disorder in children,characterized by abnormal or damaged brain development,resulting in impaired movement,posture and coordination.It has a high incidence,a high need for rehabilitation,and a serious impact on children’s educational and social integration and quality of life.At present,the rehabilitation of children with cerebral palsy mainly relies on traditional physical therapy,speech therapy and other means,and most lower limb rehabilitation exoskeleton is designed for adult lower limb rehabilitation training,in the field of children with cerebral palsy rehabilitation has not yet formed the scale,multi-functional lower limb gait rehabilitation exoskeleton,need more research and innovation.Aiming at the rehabilitation training problem of children with cerebral palsy,this paper designs a lower limb rehabilitation exoskeleton for children with cerebral palsy.The specific research content is as follows:Based on the investigation of the development status of lower limb rehabilitation exoskeleton at home and abroad,as well as the analysis of the rehabilitation research status of children with cerebral palsy,the deficiencies and problems of lower limb rehabilitation training for children with cerebral palsy were determined,and a lower limb rehabilitation exoskeleton with three functions of stepping,squatting and leg spreading was constructed.According to the artificial rehabilitation training mode of children with cerebral palsy and the joint change rule of various lower limb exercises,the mechanical leg module,squat training module and leg spreading training module of children’s lower limb rehabilitation exoskeleton were designed in detail,so as to meet the needs of children with cerebral palsy rehabilitation training.On the basis of the established virtual prototype,the Lagrange function was used to analyze the kinematics of the step training mode,squat mode and leg spreading training mode of the rehabilitation exoskeleton,and the mathematical model was constructed.The correctness of the kinematics analysis was verified by CGA gait data.Monte Carlo method was used to draw the working space of children’s lower limb rehabilitation exoskeleton in MATLAB,and the lower limb movement space of normal children was compared.The results showed that the position,speed and acceleration characteristics of the constructed lower limb rehabilitation exoskeleton were consistent with the children’s stepping and squatting movements,and its working space could meet the children’s normal movement space.In order to prepare for the design of the control system,dynamic analysis and mathematical modeling were carried out for step training,squat training and leg spreading training.According to the joint Angle change curves under the three training modes,rehabilitation exercise simulation was carried out by ADAMS software to obtain the changes of joint torque,Angle and speed under each mode,and verify the correctness of the established dynamic model.It provides theoretical support for the control system design of the following control system.A functional prototype of children’s lower limb rehabilitation exoskeleton was built.On the basis of the functional prototype,the drive control system was designed according to the actual needs of children’s lower limb rehabilitation exoskeleton,and the control board was built,components selection and upper computer system design were completed according to the requirements.simulink module in MATLAB is used to build a control simulation system,and the unilateral leg of the children’s rehabilitation exoskeleton is simulated and verified,and the simulated square wave signal is obtained.Finally,the basic performance parameters of the rehabilitation exoskeleton are tested to verify the functionality of the exoskeleton system,so as to ensure the safety and effectiveness of the children’s rehabilitation training.At the same time,it also provides reliable support for the application of robot rehabilitation technology in the field of children rehabilitation.