Mechanism Design And Coordinated Control Of A Runtable Lower Extremity Exoskeleton Rehabilitation Robot

Lower limb motor dysfunction is one of the main reasons for people’s loss of selfcare ability and labor force.Traditional rehabilitation methods often require a large amount of manual investment and time,and the effectiveness is difficult to guarantee.Therefore,the development of intelligent and mechanized lower limb rehabilitation robots has become a research hotspot in the field of rehabilitation.With the continuous development and application of robotics technology,lower limb rehabilitation robots,as a new type of rehabilitation method,have been widely studied and applied.They can assist patients in lower limb rehabilitation training,restore lower limb muscle strength and joint flexibility,improve motor coordination and balance,and thus promote the rehabilitation process.This article aims to solve the problems of high labor intensity and low efficiency in traditional rehabilitation methods,improve the rehabilitation effect and quality of life of patients,and carry out research on the mechanism design and control strategy of a running table lower limb exoskeleton rehabilitation robot.It provides a solution to alleviate the uneven distribution of medical resources and the shortage of rehabilitation physicians,which has profound social significance.1.By analyzing the current research status at home and abroad,as well as the structural characteristics of lower limb exoskeleton rehabilitation robots,a running table lower limb exoskeleton rehabilitation robot was designed.Its structure consists of three parts: an exoskeleton mechanism,a dynamic balance weight reduction mechanism,and a running platform.The exoskeleton mechanism supports the patient’s leg structure and drives the patient’s lower limbs for gait training;The dynamic balance weight loss mechanism reduces weight on both legs of patients,assisting them in standing while providing a stable weight loss value;The treadmill provides patients with a realistic gait walking experience.2.To ensure that the institution is suitable for patients weighing 35-100 kg and has good stability and safety,finite element analysis is used to analyze the overall stiffness and strength of the framework.At the same time,stiffness and strength analysis will be conducted based on the lateral force and ultimate movement of the exoskeleton to ensure the safety of the exoskeleton mechanism during the rehabilitation process and prevent secondary injury to the patient.3.By establishing a dynamic model of the exoskeleton system and a dynamic balance weight loss system,the control strategy of rehabilitation robots is studied.In order to improve the control accuracy of the exoskeleton drive motor,a Sliding mode control algorithm is designed to track the gait curve.Taking the dynamic weight reduction system screw slider B as the research object,a fuzzy adaptive PID controller is established,and a simulation model is built using Matlab/Simulink for algorithm simulation and analysis.The simulation results show that the fuzzy adaptive PID control algorithm is effective in tracking the trajectory of the weight reducing motor,making the weight reduction value approach the initial weight reduction value and reach a dynamic stable state.4.In order to verify the rationality of exoskeleton mechanism and dynamic balance weight reduction mechanism,through the use of a medical dummy to design the trajectory tracking experiment of a treadmill lower limb rehabilitation robot,the experimental results were compared with the theoretical analysis results,and the rationality of the application of Sliding mode control strategy in exoskeleton trajectory tracking was verified,as well as the effectiveness of fuzzy adaptive PID algorithm in the dynamic weight reduction system to adjust the motor to achieve dynamic stability of the weight reduction value.