The Control Of Lower Limbs Rehabilitative Robot Based On LabVIEW

Using robot assisted patients for the treatment of rehabilitation training mode has become research hot spot of lower limbs rehabilitation at home and abroad. And most of the rehabilitation training of Lower Limbs Rehabilitative Robot is based on gait tracking. More and more research shows that metatarsophalangeal joint plays a significant role in the human gait. However, due to metatarsophalangeal joint activities small range, it is ignored by previous Lower Limbs Rehabilitative Robot. Based on the analysis of research status, this paper presents a new Lower Limbs Rehabilitative Robot with the capacity of metatarsophalangeal joint exercise. Specific research content as follows:This paper analyzes the structure of the human foot and the size of the joint from the perspective of human biology, and then analyzes the characteristics of human gait and the changes of plantar pressure. This is provided the data parameters and theoretical basic for the design of Lower Limbs Rehabilitative Robot. This paper adopts D-H method on the robot kinematics analysis. The forward kinematics and inverse kinematics equations are be derived. MATLAB/SimMechanics is used to verify kinematic equations. Furthermore, Jacobian matrix is used for static analysis.A scheme of hierarchical control system is used for control Lower Limbs Rehabilitative Robot. The upper computer control platform with a core of Lab VIEW integrates the program of joint trajectory calculation, data storage, limit switches state acquisition, human-computer interaction. The lower computer with a core of ATmega16 adopt position-velocity closed loop to control motor. The external interrupt is used for acquire the pulse numbers of encoder. The format of data frame and control instructions is designed for communication protocol.The real-time simulation platform based on dSPACE and the control platform based on Lab VIEW is used for different purposes of experiments. The motor control parameters are set up for each joint in dSPACE real-time simulation platform. The different trajectory tracking experiment verify the correctness of the control system in LabVIEW control platform. The results of trajectory tracking experiment is analyzed and evaluated. Lower Limbs Rehabilitative Robot is ensured to meet the rehabilitation training requirements.