Design and analysis of plantar hydraulic control device for body weight support treadmill training

The increase in the number of people with walking disabilities caused by aging, accidental injuries and diseases is an important social problem. Therefore, based on the center of gravity control theory, a plantar hydraulic weight loss walking training device with flexible elements is proposed, which helps patients achieve walking rehabilitation training through a cooperative weight loss method combining passive suspension and active center of gravity control. Firstly, the structure of the device is designed and the dynamic model is established. Then, the constitutive model of the flexible element is determined by uniaxial tensile test. Then, based on the hyper-elastic finite element simulation results of the plantar flexible element, combined with the constant load pressure test, the correctness of the experimental data and the feasibility of the plantar hydraulic control device scheme are verified. Finally, the landing buffer and weight loss gait experiments were carried out. The results show that the plantar flexible element has a buffering effect at the moment of heel touching the ground, and the unloading force fluctuation of the two gaits under the single support phase of the human body is weakened.