下肢康复外骨骼机器人设计与性能分析OA北大核心CSTPCD

In order to better assist the rehabilitation training for hemiplegic patients,a lower limb rehabilitation exoskeleton robot driven by disk motor is designed,and the effectiveness of its different rehabilitation training modes is verified through visualization research of power-assisted effect and performance analysis.Firstly,the detailed structural design for the lower limb rehabilitation exoskeleton robot was performed,and the biomechanical analysis of human-machine coupling was carried out by using OpenSim software.Then,the passive rehabilitation training experiment based on position tracking control and resistance rehabilitation training experiment were carried out,and the surface electromyographic signals were collected to verify the effectiveness of the designed lower limb rehabilitation exoskeleton robot to assist patients in rehabilitation training under different modes.The results showed that wearing lower limb rehabilitation exoskeleton robot could reduce the human knee joint torque by about 50%.In the passive rehabilitation training experiment,the following error was within-4°-8°,and the muscle activation of the target muscle group of human lower limbs showed an obvious periodic change.In the resistance rehabilitation training experiment,the muscle activation of the target muscle group of human lower limbs increased with the increase of weight.The designed lower limb rehabilitation exoskeleton robot has good sensitivity and followability,and its passive and resistance rehabilitation training modes are conducive to lower limb rehabilitation of hemiplegia patients,which has broad application prospect.