Ao Hu
ABSTRACT
In this article, a new type of lower limb rehabilitation training robot is designed and related rehabilitation training programs are proposed. The robot system uses a bionic lower limb movement mechanism to drive the hip and ankle joints of the human body, and is combined with a treadmill-type vertical vibration training device to simulate human walking for lower limb rehabilitation training. The overall structure is modeled in three dimensions. In addition, the simplified link mechanism model is used to analyze the robot's motion process by analytical methods, and the motion equations and motion parameters of each component are derived. Meanwhile, 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. According to the simulation results, the rehabilitation training program is verified and revised to further optimize the design. It lays a theoretical foundation for the movement of the lower limb rehabilitation training robot in the future, and has certain research significance.
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Index Terms
- Structure design and kinematics analysis of lower limb rehabilitation training robot
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