Design and simulation analysis of lower limb rehabilitation robot
                                          HUANG Jin ting, YUAN Ming hai, WANG Song, WANG Hai dong, LI Xu zhong
                                 (College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China)

Abstract: Aiming at the problem of patients with mild paralysis of lower limbs to exercise their own muscles, the lower limb rehabilitation robot which was wearable is designed, assisted by institutional movement to train the lower limb hip, knee and ankle joints. Referring to the basic dimensions of the lower limbs of the human body, a connecting rod mechanism was used to simulate the lower limbs of the human body. The man machine integration model was established, and ADAMS simulation analysis software for kinematics simulation was comblined. So the trajectory of the main joints of the lower limb of the robot model was obtained, and then the trajectory was analyzed. The results indicate that the mechanism design of the lower limb rehabilitation robot has high feasibility and can achieve the purpose of training the muscles of patients with mild paralysis of lower limbs.

Key words: rehabilitation robot; manmachine integration; adams simulation; movement trajetory