Design Of Mechanism And Control Strategies Of Lower Limbers Rehabilitation Training Robot

Recently, as people's living standards have improved, The iatrology of rehabilitation develop very fast, it also gets more attention by people. However, at present body weight supported treadmill training is done hand by hand by the physical therapist to reach the correct walking gait in most of hospitals, this is low efficiency and intensity of work. All of this constrains the efficiency of rehabilitation training and the improvement of rehabilitation methods. Rehabilitation training robot is a new technology developed by recently years, it combines robot technology and iatrology, can reduce works of the physical therapist, improve the efficiency of rehabilitation training.In this subject, the gait rehabilitation training robot driven by pneumatic actuators is a new type of device aimed at the existing shortage of body weight supported treadmill training at present. At first this paper summarizes the current development and the applications of rehabilitation robots. Then put forward the design program of the gait rehabilitation training robot, designs the whole mechanism of rehabilitation robot, engages kinematical analysis of the robot and makes actual robot. Based on the high-speed on-off valve is taken as the control element, and the pneumatic actuator's positions are controlled by regulating high-speed on-off valve's duty cycle in PWM mode, this thesis gives a control strategy , complies the corresponding software of data acquisition and control software in the Labview environment, and analyzes the two styles of PWM. At last, it combines the Single Chip Micyoco system made by co-worker, and carries out a tracking test between one joint and two joints.Through preliminary experiments, the feasibility and effectiveness of the gait rehabilitation training robot are verified. According to the better prospect of rehabilitation robot, at last, this paper sets forth problems and necessary works in the next step.