| Rehabilitation robot is a product of the combination of the biomedical engineeringtechnology with robot technology, which belongs to the medical robots. In China, theaging population is more and more, and the state is getting worse. The number of patientswith lower limb dyskinesia or paraplegia caused by stroke or various accidents anddisaster is large. They are special vulnerable groups in need of care urgently. The maincontradiction is between the numbers patients with lower limb paralysis and the shortageof rehabilitation doctors. China will vigorously strengthen construction of therehabilitation medical services capacity during the”Twelfth Five-Year”. Now the researchabout the upper limb rehabilitation robot already covered every joint of upper limb andhand, while the similar research about lower limb rehabilitation robot is less than it.Aimed to the lack of current research, the author and the other members of the teammanufactured an exoskeleton-type lower limb rehabilitation robot and the patient can sitor lying in the seat. This rehabilitation robot is researched systematically, and the maincontents are summarized as follows:The neuron construction, mechanism and the anatomical structure of lower limbskeletal muscle are introduced. The rehabilitation training mode and methods correspondto different muscle force levels are analyzed. The exoskeleton-type lower limbrehabilitation robot is designed based on Ergonomics，and the patients can sit or lying inthe seat. This robot contains two mechanical legs and a seat. The angle of the seat backcan be adjusting. The robot can realized three training modes: passive training mode,assisted training mode and active resistance training mode. The mechanical structure ofthe robot, the hardware of the control system and the protection device are introduced.The robot mechanism is simplified into a three-link model, forward solution andinverse solution of the robot kinematics is analyzed based Denavit-Hartenberg Method,then analysis the theory results and simulation results which is made by ADAMSsoftware.The working space of the robot which can be varied is analyzed based on geometric method with AutoCAD software. Through force-balance method, the statics forwardsolution and inverse solution of human-machine system is analyzed. It identified therelationship between the force belongs to the back end and every joint of the robot. UsingLagrangian method, the human-machine dynamics model is obtained, and the requireddriving force of every joint is analyzed in the process of movement. When the motiontrajectory with passive training mode is circle, the kinematic and dynamics characteristicsare obtained and verified by simulation method using ADAMS software.The circuit principle of SEMG capture board which developed by the authors isintroduced and the composition circuits are simulated and verified using EWB(Electronics Workbench) software. The SEMG signals is collected from lower limbmuscles through experiment, and then obtained the average values after a series ofprocessing. Use it, we can judge the human’s movement intention.It states the basic idea and realizing ways of three training modes. The transferfunction of single joint is set up. The traditional PID control is adopted in the passivetraining mode, and then theoretical derivation of its modeling process. The compensationanalysis is done aimed to the gravity and disturbance. The linear decoupling is made to thecontrolled system in the multi-joint passive training mode. Fuzzy adaptive PID controlstrategy is adapted to the power-assisted training mode, and simulated the process.Single-joint active training is simplified into the mass-spring model, and then analysis it.Adaptive impedance control strategy is adapted to the multi-joint resistance training. Itintroduced the force adaptive algorithms. Then analysis the control system by Lyapunovstability theory. Finally, the passive training experiment was completed by the robot, andanalyzed the experimental error. |
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