Research On Rehabilitative Robot Prototype And Gait Control

There are currently more and more people have physical injury due to aging, accidents, natural disasters, etc., such as Wenchuan Earthquake, Yushu Earthquake. Timely and scientific rehabilitation training played an important role in physical rehabilitation. Rehabilitation training robot had a strong advantage of continuous and quantitative rehabilitation training.A kind of lower limbs rehabilitative robot was researched, which had a broad market prospect and can provide several kinds of training models and scenes for the patients, such as going on ground, walking up and down stairs, walking on sand. In this paper, rehabilitative robot was researched. The research mainly included, study on mechanism and controlling scheme of rehabilitative robot, human gait regular measurement, kinematics analysis, human-computer system controlling properties and simulation, etc.. In the meantime, an experimental prototype robot was developed. Based on DS1103, the experimental study on different road conditions and different walking speed of trajectory tracking was carried.On the basis of the research results of the lower-limb rehabilitation robot at home and abroad, a kind of rehabilitative robot which had six degrees of freedom was proposed to help the patients walk on different terrains through motor coordination controlling between the left and right gait mechanism. It had two symmetrical gait mechanism both side, each side was made of position and posture mechanism.Through the human gait measurement system, the gait regular rules of normal human walking on ground, up and down stairs was achieved. Based on the rehabilitative robot, the kinematics and motion space was analyzed. The measured gait trajectory was embedded in the robot motion space to verify the reasonableness of the robot's structure parameters. The feasibility of robot structure scheme was demonstrated through kinematics simulation.With the Newton-Euler method, the dynamics simulation of the rehabilitative robot was analyzed based on the software MATLAB. The motion constraint equation and Newton-Euler equation constituted the restricted matrix equation of the robot. Robot dynamics simulation model was established with MATLAB Toolbox. The straight and elliptical trajectory were tracked respectively to provide the theoretical basis for realization of controlling and performance improvement. The control characteristics of the rehabilitative robot's human-machine system were researched, and three kinds of control strategy were validated by simulation experiment. Gaits trajectory tracking was achieved by tracking control, such as going on ground, walking up and down stairs, which making the celerity and accuracy of tracking meet the requirements. In the impedance control the impact to position offset was studied, included the coefficients of stiffness Kd, damping Bd, inertia Md, and got the movement rules. Control methods of simulating sand bearing characteristic were researched, and the feasibility and effectiveness of them were verified.The experimental prototype of rehabilitative robot was developed, Based on DS1103 trajectory tracking experiments were done of the rehabilitative robot for different terrains and different walking speed. Results show that the gait simulation of going on ground, walking up and down stairs is certified by the robot and walking speed, step length, carrying capacity and control accuracy all meet the requirements of rehabilitation.