Design And Fuzzy PID Control Of Lower Limb Rehabilitation Exoskeleton Robot

Lower limb rehabilitation exoskeleton robot is a kind of equipment that can help patients to carry out rehabilitation training.In recent years,it has become an indispensable part in the field of rehabilitation medical equipment.With aging of population in our country and increasing number of patients with the lower limb disability,this leads to the function of the lower limb degrades and makes it unable to walk like normal person.Because it can replace doctors to carry out lower limb rehabilitation training for patients and has good therapeutic effect,lower limb rehabilitation exoskeleton robot has broad prospects in the future.At present,most of the symmetrical exoskeleton robots in the market cannot realize single-leg independent man-machine cooperative movement.In this paper,combined with ergonomic design theory,we plan to design and develop an exoskeleton robot for rehabilitation of lower limbs with asymmetric movement,and carry out research on fuzzy PID control technology.The main contents include:In this paper,aiming at the problem that the elderly and patients with lower limb disability are not easy to conduct gait analysis experiments,resulting in inaccurate experimental data,a method is proposed to simulate the elderly and patients with lower limb disability equivalent by changing the center of mass of normal people bearing weight,and the three-dimensional dynamic capture system is used to collect the motion information of the main nodes of human lower limbs,so as to obtain the motion trajectory and three-dimensional data.Matlab software was used to analyze the data,which laid the data foundation for further designing the lower limb rehabilitation exoskeleton.In this paper,Solid Works software is used for 3D modeling,and motor driven way,and select the motor model and part of supporting parts.The kinematic model was established according to D-H method,and then Adams software was used to conduct kinematic simulation analysis on the lower limb rehabilitation exoskeleton model to verify its continuous motion trajectory,thus proving the rationality of the exoskeleton design.According to Lagrange method,the dynamics model of the lower limb rehabilitation exoskeleton robot was established and simplified into a two-link nonlinear model.In view of the uncertainty of the model parameters,the parameters were structured.Aiming at the problem that the parameters of the classical PID control strategy need to be adjusted in real time and it is not easy to adjust,and the anti-interference is poor,this paper studies an improved PID control method based on fuzzy rules.Co-simulation with MATLAB/Simulink,the tracking effect of exoskeleton was analyzed in detail,and the feasibility of fuzzy rule PID control method was verified.The main control board and related sensors were selected to build a hardware platform,and the motor was debugger combined with the design of the software program to verify the control effect of the controller on the lower limb rehabilitation exoskeleton.