Horizontal lower limb rehabilitation training robot designing method

A rehabilitation robot, rehabilitation training technology, applied in design optimization/simulation, instrument, calculation, etc., can solve problems such as physical discomfort, human gait trajectory conformity, legacy, etc.

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. It involves many disciplines such as mechanics, electronics, and rehabilitation medicine. The existing rehabilita

Method used

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Embodiment Construction

[0012] A design method for a horizontal lower limb rehabilitation training robot, comprising the following steps:

[0013] Step 1: Introduce and analyze domestic and foreign rehabilitation robots, understand the characteristics and shortcomings of existing products, and put forward your own program goals in a targeted manner. By analyzing the body structure of the human body and the normal walking experiments of ordinary people, Discuss the trajectory of the footsteps across the plane, and combine the actual situation of the patient or the elderly to obtain the target trajectory to be achieved, and then determine a four-bar mechanism with variable size and variable trajectory according to the trajectory. The overall mechanism is easy to use, and the robot Through the rotation of the crank, the gait trajectory of the human body can be realized, and the rehabilitation training of the patient can be completed;

[0014] Step 2: Obtain the basic dimensions of each rod according to ...

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Abstract

The invention discloses a horizontal lower limb rehabilitation training robot designing method. The horizontal lower limb rehabilitation training robot designing method comprises the following steps that 1, a target trajectory to be achieved is obtained, and a variable-size and variable-trajectory four-rod mechanism is determined according to the trajectory; 2, the basic sizes of rods are calculated according to the target trajectory, kinematic and kinetic models are established for the connecting-rod mechanism and legs, horizontal lower limb rehabilitation robot modeling is performed by using Pro/E software to perform preliminary simulation; 3, a model is re-established. According to the horizontal lower limb rehabilitation training robot designing method, the target trajectory suitable for patients to train is determined by analyzing the limb situation of a human body and walking gait trajectories of ordinary adults so that the patients can well perform rehabilitation training to achieve an expected training effect.

Description

technical field [0001] The invention relates to a simulation design method of a rehabilitation robot, in particular to a design method of a horizontal lower limb rehabilitation training 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. The problem is that there are many rehabilitation trainers on t...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 常琳
Owner HARBIN INST OF TECH GENIUS INTELLIGENTTECH
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