Predictive Control Of Hip-Joint Rehabilitation Training Device Driven By Pneumatic Muscle Actuator

Hip-joint rehabilitation training device is a kind of automatic medical equipment applied to help handicapped people to take rehabilitation exercises of hips and rehabilitation of motion function. In today's society, human health is the primary problem, which provides prodigious opportunities for rehabilitation robots. As the population ages, patients which is caused by all kinds of diseases increase significantly. Therefore there are broad development prospects in rehabilitation robots'research and application.To meet the requirements of safety, flexibility, system stabilization, interface sodality, manipulation simpleness, higher control precision and production in rehabilitation training, this thesis will utilize pneumatic muscle actuator (PMA) as the driver to overcome the shortcomings caused by motor and cylinder, which is safe, complaisant and yielding, can not only output more power at the same weight, but also has similar characteristic of power/length with biologic muscle. PMA-driven Hip-joint Rehabilitation Training Device(PHRTD) is developed to achieve more convenient and friendly interface, and higher performance at lower cost. Algorithm research in PHRTD is carried out to achieve higher control precision and better anti-interference ability of the load.Firstly, based on the driver of PMA, this thesis will design pneumatic system and mechnical structure in PHRTD.Secondly, based on the embedded control platform, this thesis will built the hardware control system and the software control system in PHRTD, which consists of designing control module, choosing sensor,building linux environment and developing applications based on Qt/Embedded toolkit.Additionally, for the non-linear, hysteresis and time-varying characteristics of PHRTD, experimental researches in step response and isokinetic continuous passive motion (CPM) characteristics of PHRTD are done based on the developed embedded control platform, which applied incremental PID+Feedforward and implicated Generalize Predictive Control(GPC)+feedforward algorithm.Finally, angle-torque united PID control algorithm is designed for the requirements of active resistance motion (ARM), and experimental researches in isokinetic ARM characteristics of PHRTD are done.Experimental studies show that the designed PHRTD is stable, reliable, friendly and easy to handle. The designed implicated GPC+feedforward control algorithm can achieve higher tracking accuracy, and have a stronger anti-interference ability to load compared with traditional incremental PID+Feedforward control algorithm. The designed angle-torque united PID control algorithm can control the PHRTD to realize isokinetic ARM.