Research And Design Of The Human Lower Limb Rehabilitation Robot Intellisense System

As the aging of the population, the number of elderly people is getting larger andlarger, this is also expanding the number of the mobility of the elderly due to theattenuation of the function of the body. In addition to the body’s natural recession, thereare more and more patients with movement disorders caused by unnatural factors suchas a car accident. Which results two populations: one is action inconvenience caused bymuscle atrophy; the other is limb functional disorder due to non-natural causes. After acomprehensive analysis of medical theory and clinical experience, these two types ofsituations can be restored through appropriate limb movement rehabilitation. In thesepopulations, much of them absenting the ability of independent training need useoutside help to carry out the rehabilitation exercises. For this purpose, this project hasdeveloped a human rehabilitation robot to help patients with physical functionaldisorder take rehabilitation exercises, do not need other people’s help. The main focus ofthis paper is to design a human lower limb rehabilitation robot intelligence system basedon contact forces and plantar pressure information after the study of the system. Themain contents:1. Comparative analysis of the mechanism of human walking through the normaland the audience of lower limb rehabilitation robot to extract the key signal in thecourse of the campaign, and identify the sensor type and layout needed by lower limbrehabilitation robot.2. Analyze the characteristics of human lower limb rehabilitation robotcommunication system and design a set of perceptual system based on CAN buscommunication network and CAN bus application layer protocol. Contain the design ofcommunication topology, capture cards, and the analysis of network load and real-time.3. Design and build a set of lower limb rehabilitation robot IntelliSense systemhardware and software systems, and to verify the practicality of the system by analyzingthe results of data acquisition.4. According to the theory of Time series, design an online prediction algorithm ofsensor based on time series analysis model. The algorithm’s main purpose is to predict algorithm sensing signal and trends. First, analyze the characteristic of change of walkof wearer, and select the appropriate forecasting model, and then use the simulation ofMatlab to analyze the next step and even multi-step prediction and the error.5. Analysis of the error generated, designed a solution based on time series analysismodel. And according to prediction algorithms and error simulation and experimentalsolutions, then the simulation and experimental results verify the validity andapplicability of the improved algorithm.