Abstract
With the rapid development of science and technology, robots are widely used in rehabilitation training. According to the physiological structure of human lower limbs and gait characteristics of walking, a lower limb rehabilitation robot is designed in this paper. We design the structure in a form of exoskeleton with three degrees of freedom in which kinematics analysis is carried out by the D-H coordinate transformation method. And then we obtain the relationship between the end effector and the angle of each joint. In addition, the relationship between end effector speed and joint speed is obtained through Jacobian matrix and Lagrange equilibrium method is used for dynamic analysis. The joint torque is calculated through the joint speed and three dimensional modeling of lower limb rehabilitation robot was reconstructed by Pro-e. Finally, the driving mode is selected and calculated.
Highlights
The lower limbs of the human body are divided into thigh bone, leg bone and foot bone
They work together to form the movement of human lower extremities
External rotation mainly changes the direction of movement [1]
Summary
The lower limbs of the human body are divided into thigh bone, leg bone and foot bone. The lower extremities have three joints including hip, knee and ankle. They work together to form the movement of human lower extremities. There are three degrees of freedom in the motion of hip joint including flexion or extension, abduction or adduction and external rotation or internal rotation. There are two degrees of freedom during the motion of knee, including flexion or extension and external rotation or internal rotation. The motion of the ankle is divided into two degrees of freedom such as dorsiflexion or metatarsal flexion and varus or valgus. In the course of human walking, the balance of body is mainly done by abduction of joints. Step movements are mainly done by flexion and extension at joints of lower extremities. On the basis of routine rehabilitation training, the degree of anterior flexion or extension of hip joint is reserved only
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