The Research Of Lower Extremity Walking Rehabilitation Training Robot's Control System And Control Strategy

At present, the body's nerve damaged may be causes by these factors such as stroke, spinal cord injury, injury accidents, and human movement dysfunction has become a common disease. The Body Weight Support Treadmill Training is one of the effective method that prevalently adopted by the hemiplegic patients for rehabilitation treatment, which has special effects on stroke and incomplete SCI and so on. The effect of rehabilitation has been generally approved by many medical experts at home and abroad.Relied on the background research of the Lower Extremity Walking Rehabilitation Training Robot, the topics focus on control system and control strategies key-research of the rehabilitation training robot. First of all, based on the current research status home and aboard for lower extremity rehabilitation robot, it analyzed the difficulties and importance in the subject study. Combined with medical rehabilitation theory, this paper presents the whole designed plan for lower extremity walking rehabilitation robot, and designed the lower limb rehabilitation training robot control system based on the mechanical structure of robots in the laboratory. Secondly, plan the track of the assisted leg movement, and analyze how to coordinate the exercise between human-machine system and the medical treadmill. Then design two control modes of"robot active"and"patient active"under the system control strategies according to the degree of rehabilitation training in patients, and focus on design in the "robot active" mode with fuzzy control strategy. Thirdly, completely code and debug the control program in microcontroller and LabVIEW program on the host computer. Next, make the proposed control algorithm verified and optimized by means of experiments.Lower extremity walking rehabilitation training robot combine robot technology with medical rehabilitation theory, it can effectively reduce the work intensity of medical staff, and improve the efficiency of gait rehabilitation for patients. As preliminary verification by experiment, leg walking robot control strategies and rehabilitation programs are feasible and effective. Meanwhile, research topic for future control technology on integration of machine, electrical system and integration of human-machine system explores new ways, the research has great theoretical and practical application value.