Gait Optimization And Control Of Lower Limb Rehabilitation Robot

Neurological injuries caused by diseases or accidents often lead to hemiplegia and paraplegia.Modern rehabilitation medicine believes that after the patient’s condition is stable,timely rehabilitation training can restore the patient’s nervous system function effectively and enable the patient to move autonomously.However,traditional rehabilitation training requires a lot of manpower,and repeated training process would make medical staffs emotion become negative easily,which will have a negative impact on the training effect.Rehabilitation robot solves these shortcomings in traditional rehabilitation training by robotics.A kind of lower limb rehabilitation robot was researched,it can provide passive rehabilitation training.In this paper,the mechanical structure of the robot was introduced,the control system,gait data acquisition and robot gait optimization were studied.Through the biodynamic simulation of human musculoskeletal model in OpenSim,the angle data of hip,knee and ankle joint during normal walking were obtained.The kinematics model of the mechanical leg was constructed based on D-H parameters methods,and the visual kinematics simulation was carried out in Matlab.The simulation result proves it is reasonable to use the gait data obtained by simulation as the reference gait data of mechanical legs with less degrees of freedom.The obtained gait data are interpolated by cubic spline to obtain the PVT data that can be used by the driver,and the basic functions of the robot are preliminarily realized.In this paper,gait optimization method based on central pattern generator was researched for the robot gait based on reference gait data and cubic spline interpolation is difficult to adjust and lacks the transition gait between standing mode and walking mode.A mathematical mode of central pattern generator network was established and simulated in Matlab/Simulink.The result shows that the central pattern generator can generates reasonable gait and transforms smoothly among different mode of gait.