Research On Controller And Experiment Of The Gait Training Robot

The therapy technology of rehabilitation aided by robot has gradually become one of the hottest subjects at home and abroad. Gait training robot belongs to rehabilitative robot, and can simulate the walking gait of normal human on different road conditions to help patients take lower limbs rehabilitative training. The project mainly focused on the servo control technology of gait training robot, and the research is practical.This paper systematically overviews the development situation and application of the lower limbs rehabilitation robot. Together with the mechanism design and control mode, it analyzes the feasibility of the aided-robot for lower -limb-motor rehabilitation and the way to realize it. The concrete researches are as follows:According as the application objects and gait rehabilitation theory, the design target and the control system scheme were confirmed. Three kinds of gait orbits to this robot were planed adopting cubic spline method based on the measured orbits, including normal gait, upstairs gait and downstairs gait, and they were validated through kinematics simulation. Dynamics analysis was carry out through MATLAB/SimMechanics, and the control algorithm and the strategy of rehabilitation robot were confirmed based on the analysis of dynamics data, gaits and system nonlinearity, and the control model was established, and the simulation of trajectory tracking control was carried out.Based on the dSPACE real-time platform, The HIL simulation was designed according to the theoretical research. Here the robot system was located in the control loop. Position initialization model, limit protecting model, control model actualizing all kinds of training modes were all translated into the simulation models. These models were independent to each other and related the Simulink with the RTI, and the system was identified.Finally, through training the healthy subjects by robot, all kinds of training modes were researched, and the orbits were validated. With the control parameters momentarily adjusted and the feedback information, the results of the experiments were attained. Then the results were analyzed and estimated, and the feasibility of the control system scheme was validated.