Study On Rehabilitation Strategy Of Lower Limb Exoskeleton Rehabilitation Robot Based On SEMG

In recent years,the number of hemiplegia caused by stroke and other diseases has been increasing year by year in China.This kind of patients should be combined with some rehabilitation training in the treatment,otherwise the limb will produce irreversible damage.In this paper,combined with the control method of robot technology and movement recognition based on sEMG,different rehabilitation strategies were designed and implemented through control algorithm for different rehabilitation periods of such patients,so as to assist patients in training and promote rehabilitation.Patients’ activity ability is weak in the early stage of rehabilitation,and the designed rehabilitation training mode is the auxiliary passive traction mode,that is,the rehabilitation robot drives the patients to carry out the auxiliary track training.In the experiment,the manmachine interaction experiment platform was built to design the control method.Under the guidance of rehabilitation doctors,different rehabilitation function curves were designed for the robot to track according to the physical conditions of patients in different rehabilitation periods.In addition,gait curve was obtained through OpenSim software,and joint simulation training was carried out following the gait curve to achieve passive rehabilitation function.In this paper,the mechanism of surface EMG signals is analyzed,and Delsys wirelessEMG system is used to collect the em G signals of lower extremity activities.Aiming at the problems of weak knee EMG signal and poor analysis condition,the EMG recognition method of lowering the channel was used to complete the recognition.In this method,the electromyographic amplitude of the joint is analyzed in practice,and the number of channels is simplified by sEMG to realize the motion identification of the patient.Since the knee joint can only flex first and then extend in actual activities,the movement is orderly and cannot reflect the active intention,this paper designed the patient’s sitting position to realize the active training mode of the knee joint.Relevant research also shows that after active training,patients have a restorative effect on their damaged nerves.The patients could not control the lower limb joints of the affected side by themselves.In the case of poor EMG signal conditions on the affected side,this paper proposed a rehabilitation strategy based on mirror rehabilitation.At different stages of rehabilitation,the positive mapping relationship between subjective motion intention and joint activity of the patient’s undamaged side and the affected side was established through electromyographic signals,and the rehabilitation strategy of active training was completed with the assistance of rehabilitation robot.Aiming at the safety problems of patients during training in the middle and later stages of rehabilitation,the training protection mechanism is designed based on the advantage of the compliance of the reference impedance control and the interactive torque,so as to ensure that the robot’s traction force will not cause secondary harm to patients during the EMG recognition.