Horizontal lower limb rehabilitation training robot designing method

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...

AI Technical Summary

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 rehabilitation robots have a wide variety and a large number, but there are still some legacy The problem is that there are many rehabilitation trainers on the market, and the training effect is relatively ideal, but most of them are fixed tracks. When people of different sizes and genders use them, the body may feel uncomfortable. It brings about the decline of the effect of sports training, and the trajectories of most rehabilitation trainer products are only simple fixed trajectories, which do not match the gait trajectory of the human body.