Structure design and simulation on bionic lower extremity rehabilitation robot

Abstract

Lower extremity exoskeleton rehabilitation robot is one of the focus in the field of robotics developed to help physical therapists complete rehabilitative therapy. However, the traditional rehabilitation robot cannot fit specific human body structure parameters well very, which may reduce the rehabilitation effect. To overcome this problem, this paper mainly discusses the Design and Simulation on a new bionic lower extremity rehabilitation robot. Firstly, a three-dimension model has been established in SolidWorks. Secondly the kinematic analysis has been made. Then, the model has been imported into ADAMS to verify the correctness of the analysis by simulation. At last, based the PID control system and the simulation model created in ADAMS, the union simulation by ADAMS and Matlab has been created to verify its control performance. The union simulation shows that this rehabilitation robot can follow the designed trajectory with good stability and smaller control difficulty.