Compound lower limb vibration training rehabilitation robot

This paper uses a bionic lower limb rehabilitation mechanism combined with a running frame structure to simulate human gait movement for lower limb rehabilitation training. The vibration excited by the vertical vibration module causes the muscle to oscillate, and the mechanical vibration excites the neuromuscular system to obtain corresponding rehabilitation functions. The robot system is modeled in three dimensions, and the static analysis and modal analysis of the running frame are carried out. The mechanism and application of vertical vibration in the key technology are clarified, and the vibration element in the vertical vibration device is analyzed. The vibration theory is deduced, and the vibration displacement figure is drawn using simulation software. The related cooperative vibration spring has also been analyzed with single-degree-of-freedom damping vibration, and the spring's center of mass movement, momentum, and position changes over time are illustrated. The design of the robot system solves the current situation of single movement of the lower limb rehabilitation robot and unsatisfactory rehabilitation effect, laying a foundation for the practical application of the subsequent lower limb rehabilitation robot system. © 2020 John Wiley & Sons Ltd