Simulation design method based on rehabilitation robot

Abstract

The invention discloses a simulation design method based on a rehabilitation robot. The simulation design method includes following steps: step 1, using a size-variable connecting rod slider mechanism to output target gait trail, and changing output trail of the mechanism by changing size of the mechanism; step 2, building kinematic and dynamic mathematic models of the mechanism; step 3, building a dynamic equation of legs; step 4, using Pro / E software to perform three-dimensional modeling on the robot and ADAMS software to perform design optimization and dynamic simulation on a horizontal lower limb rehabilitation robot mechanism; step 5, analyzing movement rules of the robot mechanism and lower limb joints. The simulation design method is simple and convenient to operate and train, and medical staff does not need to consume a lot of physical labor; the rehabilitation robot is moderate in size, thereby being suitable for small old people's homes and even households to use; the mechanism output point trail simulates human gait trail and is adjustable, so that the rehabilitation robot is suitable for patients of different body types for movement rehabilitation training.

Description

technical field [0001] The invention relates to a simulation design method of a rehabilitation robot, in particular to a simulation design method based on a rehabilitation robot, and belongs to the technical field of intelligent electronic products. Background technique [0002] With the rapid development of rehabilitation medical theory in recent years, various rehabilitation theories related to sports training have sprung up. Driven by these theories, limb training robots have become a research hotspot in medical rehabilitation research, but the limb rehabilitation training robot The design is different from the design of common mechanical mechanisms. It is a synthesis of many disciplines, which involves many disciplines such as mechanics, electronics, and rehabilitation medicine. The existing rehabilitation robots have a wide range of types and a large number, but there are still some leftovers. In recent years, wearable rehabilitation robots have developed rapidly. Many ...

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Problems solved by technology

[0002] With the rapid development of rehabilitation medical theory in recent years, various rehabilitation theories related to sports training have sprung up. Driven by these theories, limb training robots have become a research hotspot in medical rehabilitation research, but the limb rehabilitation training robot The design is different from the design of common mechanical mechanisms. It is a synthesis of many disciplines, which involves many disciplines such as mechanics, electronics, and rehabilitation medicine. The existing rehabilitation robots have a wide range of types and a large number, but there are still some leftovers. In recent years, wearable rehabilitation robots have developed rapidly. Many institutions and universities have conducted in-depth research on this, and some of them have entered into practical commercial applications. However, the operation process of wearable rehabilitation robots is relatively complicated and requires professional personnel. It takes a lot of manpower to accompany and guide the operation in parallel. In addition, the wearable robot is expensive and requires the operator to have high operation ability, so it is difficult to enter the general small clinics, nursing homes and families. Therefore, wearable robots are not suitable for general public use