Simulation And Experimental Study On Control System Of Assisted Standing-up Rehabilitation Robot

With the improvement of national living standard, people pay more and more attention to the health of the disabled, and all sorts of auxiliary rehabilitation training equipments are also correspondingly developed rapidly. For patients that are disabled in lower limbs and elderly people, it is difficult to stand up for themselves. Therefore, auxiliary standing-up rehabilitation robots have come into being accordingly. To satisfy the need of standing-up for patients that are disabled in lower limbs and elderly people, the whole auxiliary standing-up rehabilitation robot system is designed, including auxiliary standing-up rehabilitation robots mechanical body, control system, data acquisition system and functional electrical stimulation part.First, the kinematic analysis of healthy people's standing-up process is analyzed. The human body is simplified and modeled. A dynamic analysis of the standing-up process aided by the rehabilitation robots, and also that of the rehabilitation robots are carried out. These approaches provide evidence for the analysis of the standing-up process of the disabled and the elder.An overall arrangement for the auxiliary standing-up rehabilitation robots is made, and the compositions of the mechanical body are introduced. The selection criterion of input data of control system is analyzed; in data acquisition system, the force signals collected is analyzed, and a low-pass filter is designed; in functional electrical stimulation part, the principles of electrical stimulation and functional electrical stimulation are applied, the stimulus - muscle force model is analyzed, and the stimulus program of the stimulator is written.In order to obtain the parameters of the servo motor and drive, the identification of the whole system is conducted, including selection of identifying types, design of experiments, the input signal selection, model identification algorithm, inspection of models, etc.; after acquiring the system model, the RST controller is designed, and the allocation of poles is finished, and thus the whole system controller design is completed.The experimenter for the auxiliary standing-up rehabilitation robots is selected after the basic body parameters are measured and calculated; functional electrical stimulation of the parameters are chosen for the selected experimenter and stimulus - muscle force model is simulated; in experiments, the same electrical stimulation parameters are chosen and simulated, the forces in the parts of experimenter's arm, hip and foot in rising process are obtained by the data acquisition system; in the light of the arm forces measured in the actual situation, an exact real-time stimulus plan is proposed.