Research On Gait Rehabilitation Training Apparatus And Its Control Strategy

In recent years, the patients who suffer from lower limb dysfunction caused by central nervous system diseases such as spinal cord injury and stroke is increasing. The gait rehabilitation training robot is focused on and researched extensively because of its advantages. For example, reducing therapists labor intensity, good repetitive training, accurate and objective rehabilitation evaluation index.The technology of gait rehabilitation training robot has obtained some research achievements, but in the aspects of robot simulating the normal subjects’optimal gait, gait training control strategies and realization, extracting training information and rehabilitation evaluation, they still need further research. At the present time, there are only a few large public hospitals equipped special gait rehabilitation training robot. Meanwihle, it takes up much room and expensive, so it’s hard to promote the robot to the district communities and families. Second, the external features of patients who participate in training actively is captured, and the control strategies of realizing human-computer interaction are usually focused on control arithmetic. The lower limb model is so complicated that the corresponding control arithmetic is also difficult. Furthermore, there are a lot of associated rehabilitation evaluation items on the apparatus and the evaluation results are also not visualized. In order to deal with the existing problems of gait training robots above, the paper has research on the mechanism design of gait rehabilitation training robot, gait training control strategy, rehabilitation evaluation and so on. The concrete research contents are as follows:(1) A single degree of freedom gait simulation mechanism driven by the way of foot pedals is designed, and mechanism parameters are optimized so that the mechanism can not only ideally simulate the normal subjects’gait, but also can achieve the goal of miniaturization and integration. Besides, the adjusting devices of the gait simulation mechanism are designed so that they can satisfy different patients with their own gait trajectory.(2) Mechanical driving system, appearance modeling, partial body weight support and upright assistive devices of gait apparatus are designed by3D design software, and the apparatus’ layout is also rationalized. As a result, it realizes miniaturization and integration on the apparatus.(3) A method using by multi-class mode applied on the gait training is proposed, and the corresponding gait training control strategies and real time rehabilitation evaluation methods matching the apparatus are formulated based the mode above. The cycle control principle of "evaluation-mode selecting-training-evaluation" is adopted, and then the hardware and software of gait training control system based on51single chip microcomputer are both designed. So, it realizes the real-time interaction of gait training and rehabilitation evaluation.(4) A simulation and integrated test of51single-chip microcomputer gait training system is made by the software Proteus and Keil, and the system breadboard is also made based on simulation circuit. It turns out that the designed system is correct and viable.According to the research above, the gait training apparatus designed can not only simulate different normal subjects’gait very well, but also has the characteristics of high integration, adjustable mechanism parameters and easy to use; Being compared with control systems designed based on complicated control arithmetic, the51single chip microcomputer control system based on multi-class training mode has advantages such as compact structure, simple control. Furthermore, the apparatus needs little space and is popularized among individual or family. It turns out that the gait rehabilitation training apparatus designed has fulfilled desired requirements.