Research On Control Strategy Rehabilitative Evaluation Methord Of Lower Limbs Rehabilitative Training Robot

With global aging people and patients with lower limb dysfunction growing, development of omnidirectional lower limb rehabilitative training robot with independent intellectual property rights has not only important theoretical significances but also immediate practical value to reduce the burden on society and the family. The dissertation is based on scientific research projects of Ministry of Education and Liaoning province. Key technologies such as modeling, design, production, rehabilitative training and evaluation of the robot system are studied in-depth to lay theoretical and technical base for its application.(1)Mathematical model of omnidirectional lower limb rehabilitative training robot. Kinematics and dynamics models of a four wheeled omnidirectional robot were analyzed. A mathematical model of vector analysis method was proposed, and a model of robot kinematics and dynamics was established. Relation between motion of four omni-wheeled robot and robot pose coordinates was described by established mathematical model. The correctness was verified by simulation.(2) L2 robust controller of omnidirectional lower limb rehabilitative training robot. kinematics model and system error dynamic model of the robot were established. L2 standard design, dissipation, gain and other issues were analyzed. Interference suppression and robot trajectory tracking problems were attributed to the L2 robust controller design. By constructing a storage function, robot L2 robust controller was designed using backstepping method, and the stability of this controller was proved by Lyapunov theorem. Not only difficulties for solving nonlinear partial differential inequalities HJI when designing control laws were overcome, but also interference suppression and trajectory tracking problems meeting the conditions of asymptotic stability were resolved. Nonlinear L2 robust controller for the robot was simulated to verify the design correctness.(3)Omnidirectional lower limb rehabilitative training robot prototype and rehabilitative evaluation method. Based on lower limb rehabilitative therapy and theory, from the viewpoints of clinical safety, effectiveness, practicality and comfort, the dissertation put forward on design requirements of the lower limb rehabilitative robot, control, sensors. For clinical application, the lower limb rehabilitative training robot prototype and control system were designed to fit different heights, different patients, different degrees of damage in patients with lower limb dysfunction. To quantify rehabilitative evaluation parameters, a scheme of obtaining dynamic balance and gait parameters was proposed when patients are trained with the robot, and rehabilitative evaluation platform was designed in details.(4) Experimental research on rehabilitative training and evaluation systems for omnidirectional lower limb rehabilitative training robot. Seven gait states in rehabilitative training and their online testing methods were presented. Dynamic balance parameters could not be measured in the past. A method to test dynamic balance quantitative indicators was proposed. Experiment of gait states analysis and dynamic balancing in rehabilitative training was conducted using the established rehabilitative evaluation system. Finally, nonlinear L2 robust controller was implemented with a digital signal processor. Experimental research on different trajectory tracking and interference suppression using the developed control algorithm verifies the feasibility of this controller.