Research On Controller And Experiment Of The BWS And Gait Rehabilitative Robot

The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the home and abroad researchers, and it is becoming one of the hottest subjects. The paper systematically overviews the current status and the trend of these fields of Rehabilitative Robot, Body Weight Support System and Human Gait Analysis. According as the application objects and hemiplegia rehabilitation theory, it is confirmed the design aim and the control system scheme. The key technologies of the robot system are studied and presented. The concrete researches are as follows:According to the image detection system and the angular real-time measuring instrument, we measured and analyze the motion parameter of the lower limbs, as well as the experiment on the harmonious trajectory of the barycenter. The analysis results provide the theoretic basis and the essential data for the further study on the control system of the BWS and Gait Rehabilitative Robot.Based on the dSPACE real-time platform, the HIL simulation is designed. Here Body Weight Support System is located in the control loop. We designed the controller of the BWS. According to the progress of the rehabilitation, we can adopt the appropriate weight support for the patient.Finally, based on the LabVIEW environment, we finished the software design for the control of the BWS as well as its experimental research, and improved the software of the control system of the BWS and Gait Rehabilitative Robot. Processing the initialization of Gait Training System, Weight Support System demarcate, the following motion between them, the real-time acquisition and display of the experimental data, we can accomplish the control and execution of the whole system.