Design Of A Control System For A Lower Limb Exoskeleton Rehabilitation Walking Robot

Lower limb exoskeleton rehabilitation robot belongs to a type of robotwhich is committed to helping people with disabilities to rehabilitate andregain the ability of walking. It is also a new product of applying robottechnology to medical field. Lower limb rehabilitation robot is able toconquer a series of disadvantages in traditional rehabilitation field andbring an amount of strengths. In addition to having the diversified andprogrammed rehabilitation processes, lower limb exoskeleton robot canrecord rehabilitation data to assess the walking rehabilitation level. Thelower limb exoskeleton this thesis presented is just one type of the robots.Firstly, this thesis conducted a deep research on lower limbexoskeletons. In combination with the latest developmental direction, themechanical structure of the lower limb exoskeleton was optimized to avoidthe structure intervention as well as to improve the elastic property for therobot. The kinematic and dynamic analysis of this exoskeleton togetherwith normal person gait was presented to verify and validate thefunctionality of the mechanical structure. Based on exoskeleton kinematicanalysis, the behavior and performance of series elastic actuator wasanalyzed. In addition, the control strategy of single joint was provided forthe exoskeleton. In the process, two sorts of single joint control strategywere implemented in the gait control strategy. On the basis of the previousanalysis, ADAMS software was utilized to simulate the complex dynamicproperty of the exoskeleton.In the second place, the control system platform for the lower limbexoskeleton was established. Control system hardware structure wasdeveloped for the rehabilitation exoskeleton with PC and DC servo motor controller. DC servo motors were used to drive the exoskeleton. On thebasis of the hardware structure, control interface software was developedto supervise the motors’ performances and record the experiments data.Lastly, based on the mechanical structure and gait control strategy, anamount of experiments were implemented to test the functionality of thecontrol strategy.