Research On Lower Extremity Rehabilitation Exoskeleton

At present,there are a large number of patients with lower limb functional disorders caused by stroke or traffic accidents.Weight-supported rehabilitation training is a widely adopted method in low extremity rehabilitation training.Considering the shortcomings of the current artificial rehabilitation training,such as the excessive labor intensity of the doctors,the unwarrantable training intensity and durability of patients,and the rehabilitation training effects susceptible to fatigue and experience of physician,the technology of lower extremity rehabilitation exoskeleton robot is introduced into lower limb rehabilitation training.The lower extremity rehabilitation exoskeleton robot is the combination of robot technology and weight-supported walking rehabilitation training technology.This technology can liberate the heavy physical labor for physicians.Different rehabilitation training strategies are adopted according to different rehabilitation training stages of the patient.The enthusiasm of patients to participate in training is increased and the training effect is promoted.At the same time,this technology can record the kinematics information,dynamics information and biological signal data of patients during the rehabilitation training process,which can be used for the evaluation of rehabilitation effect and the improvement of rehabilitation training method.This article aims to develop a weight-supported lower extremity rehabilitation exoskeleton robotic system,establish the dynamic model of the exoskeleton robotic system,and design the passive control algorithm for passive training stage and hybrid control algorithm for active training stage.The enthusiasm of patient is enhanced in the process of rehabilitation training and the effectiveness of rehabilitation training is improved.The main research contents of this dissertation are as follows:This article firstly researches on the lower limb movement mechanism and characteristics of human and then details the design of lower extremity rehabilitation exoskeleton robot system.The dynamic analysis of the designed lower extremity rehabilitation exoskeleton robot is conducted by the Lagrange method.The dynamic models of the double-support phase and the single-support phase for the "patient-passive" training mode are established.The dynamic models of swinging leg and supporting leg are established for the "patient-active" training mode.As for dividing motion phase,a recognition method for human gait phase is proposed.Based on the sole pressure information of the patient,the supporting and swing phases of the patient's legs are identified for this method.In order to improve the enthusiasm of patient to participate in rehabilitation training,a specific method of human motion intention recognition based on state observer and backpropagation neural network is proposed,which lays the foundation for the design of patient-active rehabilitation training control algorithm.As for the "patient-passive" rehabilitation training mode,a joint trajectory tracking control method based on neural sliding mode controller is designed.As for the "patient-active" rehabilitation training mode,a hybrid control algorithm is designed,where the fuzzy PID control algorithm is used for support leg,and the fuzzy adaptive impedance control algorithm is used for swing leg.As for the "patient-passive" rehabilitation training mode,simulation research is conducted based on MATLAB Simulink and experimental research is conducted.The simulation and experimental results show that the control algorithm based on the neural sliding mode controller performs well on the tracking of the joint reference trajectories.As for the "patient-active" rehabilitation training mode,experimental research is conducted.The experimental results show that the control algorithm based on hybrid controller fully realizes the participation of patient in training.Finally,a quantitative evaluation index of rehabilitation effect is proposed based on EMG signals and kinematics information.The research of this doctoral thesis on the lower limb rehabilitation exoskeleton robot will provide a theoretical and preliminary experimental basis for the application of exoskeleton robots in the rehabilitation of patients with lower limb dysfunction in China,and has very important values for research and engineering application.