Research on the Motion Control Trajectory and Structure Design of a Lower Limb Standing Rehabilitation Training Device

Abstract

Aiming at the problem of standing rehabilitation of lower limb motor dysfunction patient. Firstly, the standing movement process of human body is analyzed. Secondly, the exercise trajectory test and pressure distribution measurement test of healthy human body are studied. Thirdly, the structure of the lower limb standing rehabilitation training device is designed according to the collected joint trajectory. Finally, the movement control trajectory simulation of the lower limb standing rehabilitation training device is carried out according to the collected regional pressure. The simulation results of virtual prototype coincide with the test trajectory, which shows that the structure of the designed lower limb standing rehabilitation training device is reasonable, and the hybrid control method of force and position can realize the standing rehabilitation training for lower limb motor dysfunction patient in the light of the set exercise trajectory.