Research On Training And Controlling Strategy Of Rigid-Flexible Coupled Lower Limb Rehabilitation Robot

With the development of society and the progress of technology,rehabilitation robot,as an newly-developing specialized robot,has achieved active demands of the whole society and obtained rapid expansion.Patients and the aged and athletes with dyskinesia could complete rehabilitation training through this robot.Joints and muscles of people would be received more effective recovery and exercise and their living quality and athletic ability would be improved by it.Lower rehabilitation robot is a main branch of rehabilitation robots.It would be important practical significance that key technology of such robot was researched.This project is sponsored by National Natural Science Foundation of China(NSFC)project Mechanism and Training Mode of Rigid-Flexible Robot and Harbin Innovative Talent in Science and Technology of Special Funds project Research on Mechanism of Rigid-Flexible Coupled Lower Limb Rehabilitation Robot.The main contents of theoretical analysis and experimental study are as follows.Firstly,trajectory correction and strength training mode are based on the demand of rehabilitation training.A robot mechanism which can achieve multiple training modes including trajectory correction and strength training is designed through analyzing the mechanism of the training modes above.The overall control scheme which can achieve all training modes established on the basis of functional requirement.Secondly,math models of gait correction training and strength training are built.Human gait trajectory is analyzed,which helps ascertain robot's input.While building the dynamic model,multiple wire driving schemes,which includes motion planning of rigid chain,are made aiming at the instability of the concussion of driving force on wire-driven unit.With the help of MATLAB,the minimum driving force on wires meeting different training mode can be calculated.And the validity of the conclusion are proved intuitively.Moreover,ideal controlling planning is drawn up.The models of control system of wire-driven unit under different motions are built on the basis of kinematic model and dynamic model.MATLAB/Simulink is used to simulate and analyze,the result indicates that the control of position and output force under the wire-driven unit is effective.Finally,monitored control system including motion control card PCI1040 and data acquisition card PCI8620 is used in CAN communication test,single-wire driven unit output force test,two-wires driven unit output force test,three-axis function test and so on.These tests initially proved that the control system is able to meet the need of trajectory correction and strength training of this rehabilitation robot.