Jixie qiangdu (Jan 2021)
STRUCTURE DESIGN AND EXPERIMENT OF MULTIPURPOSE LOWER LIMB REHABILITATION EXOSKELETON
Abstract
In order to effectively solve the motor dysfunction of lower limbs caused by spinal injury,brain injury,cerebrovascular disease and orthopaedic surgery, a multi-purpose detachable exoskeleton design scheme for lower limb rehabilitation was proposed. A high integrated force-assisted joint with force-sensing based on torque sensor was designed. Based on the design of generic size structure of legs,a two-way synchronous fast adjusting mechanism with threaded transmission was proposed to realize the function of fast adjusting the length of exoskeleton leg with one hand. Considering the movement balance safety and wide applicability of exoskeleton,the lower limb rehabilitation exoskeleton was combined with the liftable mobile protector organically. The whole structure of the lower limb rehabilitation exoskeleton and the liftable mobile protector frame were put forward,which ensured the balance safety in the process of exoskeleton movement,and was also suitable for the patients with different degrees of lower limb movement dysfunction,such as mild,moderate and severe patients with dysfunction. In order to rationally plan the gait of lower limb rehabilitation exoskeleton movement,gait data of leveling,ascending,descending,ascending and descending stairs was collected and processed. The control system was established. In order to verify the theoretical research results, a experimental prototype was processed, and relevant experimental verifications were carried out. The experimental results show that the torque sensor has high real-time and accuracy,and the exoskeleton has a wide range of adaptability. Combined with the mobile protector frame,it can provide an effective weight reduction for patients. The exoskeleton can achieve the functions of standing up,sitting down,walking on the ground,climbing and descending the slope and stairs.
