Simulation design method based on rehabilitation robot

A rehabilitation robot and simulation design technology, which is applied in the fields of instruments, computing, and special data processing applications, can solve problems such as difficulty, manpower consumption, and expensive wearable robots, and achieve the effect of simple and convenient operation and training, and moderate size

Inactive Publication Date: 2017-05-31
HARBIN INST OF TECH GENIUS INTELLIGENTTECH
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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, w

Method used

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Examples

Experimental program
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Example Embodiment

[0014] A simulation design method based on rehabilitation robot, including the following steps:

[0015] Step 1: Analyze the walking gait trajectory of ordinary people, use a variable-size linkage slider mechanism to achieve the output of the target gait trajectory, and change the output trajectory of the mechanism through the size change of the mechanism;

[0016] Step 2: Establish the mathematical model of the kinematics and dynamics of the mechanism, and analyze the law of motion and the force of each member under different working conditions of the mechanism;

[0017] Step 3: Analyze the law of leg movement, explore the movement changes of each joint of the leg, and establish the dynamic equation of the leg;

[0018] Step 4: Use Pro / E software to perform 3D modeling of the robot, and ADAMS software to optimize the design of the horizontal lower limb rehabilitation robot and conduct dynamic simulation to obtain the movement of the mechanism and lower limbs in different states and tr...

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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 ...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 常琳
Owner HARBIN INST OF TECH GENIUS INTELLIGENTTECH
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