Knee Exoskeleton Based On Flexible Binding Robot Design And Research

With the increasing demand for treatment of knee osteoarthritis,especially the middle-aged and elderly groups have a high incidence and a heavy burden after the disease,but the current drug therapy has failed to fundamentally solve the problem.Compared with the insufficiency of drug therapy,the use of external booster device t o weaken the axial impact load of knee cartilage can achieve effective prevention and rehabilitation of knee osteoarthritis adjuvant therapy.As the physical interface of human-computer interaction in the exoskeleton system,binding mechanism is particularly key to improve the comfort of human-computer interaction.In order to solve the problem of the comfort and stability of human-computer connection,an intermittent flexible binding scheme based on human gait cycle is proposed,thus carrying out the design and research of the exoskeleton robot.On the basis of analyzing the anatomy of human lower limbs and the movement characteristics of knee joint,aiming at the causes of cartilage wear caused by the heavy load of knee joint,an exoskeleton robot is designed to reduce the internal force of knee joint,so as to achieve the purpose of helping patients with non-surgical auxiliary treatment.The kinematics and dynamics of lower limbs are analyzed,and the strength of important components is checked,so that the exoskeleton robot can meet the design requirements.Aiming at the human-machine interface between exoskeleton and human body,the law of force action in the interface is studied.The principle and lifting method of axial support force were analyzed.Based on the finite element model of binding mechanism-thigh,the influence law of different factors on the stress size and distribution in binding area was obtained,and the mathematical model of binding principle of flexible lining was established.The designed exoskeleton robot control system uses the attitude measurement nodes arranged in the thigh and calf to obtain the user’s lower limb posture information.Combined with the pressure value measured by the thin film sensor,the corresponding solenoid valve group is driven by the data fusion algorithm to achieve the comfort binding of the user’s lower limb.In order to test the intermittent flexible binding effect of the exoskeleton robot,a prototype exoskeleton rehabilitation robot was built.Firstly,the angular measurement performance of the attitude measuring node relative to t he biaxial digital display inclinometer was tested.Then,the intermittent flexible binding effect was verified,human gait parameters were detected and electromyographic strengt h analysis experiments were carried out,which verified that the intermittent flexible binding improved the wearing comfort of patients to a certain extent.