Active-passive Control And Experimental Research Of Lowers Limbs Rehabilitation Robot

Rehabilitation robot, having developed rapidly in recent years, has become an attentive hot spot and drawn widespread attention of researchers at home and abroad. It has extensive research value as well as market prospect in terms of helping old people and extremity motor function suffers in recovering their extremity function. By means of rehabilitation training, Active and effective rehabilitation training control strategy is one of the difficulties in researching the rehabilitation robot, therefore, the research of this subject has much practical application significance..This paper is mainly concentrated on active-passive control and experimental research of lower limbs rehabilitation robot. Combining with the status of its development and application, the whole mechanism scheme and control scheme of the lower limbs rehabilitation robot has been worked out. Moreover, muscle spasm detectors and plantar mechanical detectors have been designed, tben passive control strategy, together with active-passive control strategy, has been advanced. Besides, relevant experimental research has been carried out, and the main contents are as follows:Firstly, the whole mechanism scheme and control scheme has been worked out. More precisely, the structure of the system is made up of the training mechanism of hip joints and that of ankle joints. While the control of the system includes the control strategy of the robot and software and hardware of the system. Based on PC and MCU,upper and lower computer control system has been built. And, logic modeling of the control system can be achieved by using Stateflow toolsSecondly, muscle spasm detectors and plantar mechanical detectors have been designed. According to muscle spasm detection principle, the design of muscle spasm detector, including that of sensor structure and control circuit, has been completed. Through experimental analysis of the variatitions of muscle pressure in normal people's walking, he feasibility of muscle spasm detectors in detecting patients with muscle spasms is tested and verified. Furthermore, through analysing detection principle of plantar mechanical detectors, plantar mechanical detectors and signal processing circuit has been designed. Then, the calibration of plantar mechanical detectors has been done through the experiment. Thirdly, through kinematics analysis of the robot and the patient separately, the trajectory tracking control of the rehabilitation robot has been realized. Not only the controller parameters have been optimized, but also the feasibility of the trajectory tracking control theory has been tested and verified through trajectory tracking experiment. In addition, force feedback has been added to the control system of the lower limbs rehabilitation robot, and the compliance control has been used. As a result, certain stiffness characteristics and damping characteristics has been acquired. Thus, the security and the comfort of the patient can be ensured.Last but not least, on account of the different situations of patient limbs in different stages, this paper analysed active-passive control training mode, and put forward active-passive control strategies, which are based on closed loop and increment respectively. Through closed loop control experiment, the correctness of closed loop control strategy has been tested and verified. Specifically, the possibility of the realization of closed loop control strategy has been proved by combining trajectory tracking control experiment with closed loop control experiment. In the same way, through active-passive control experiment, the rationality of the active-passive control strategy that is based on increment has been analysed.