Research On Dynamic Analysis And Control Of The Wearable Lower Limbs Rehabilitative Robot

Wearable lower limbs rehabilitative robot is one of the emerging research focus combined with medical and engineering in recent years. Its technical fields mainly related to ergonomics, robotics, mechanism, intelligent control, signal processing, and etc. Wearable lower limbs rehabilitative robot not only should have a certain mechanical structure, but also should have sufficient "Expertise" to help or instead of rehabilitation physician to guide the rehabilitation training of lower limbs function disorders.With the intensification of the extent of China’s aging population and a significant increase in the incidence of age-related diseases, engaged in the research has a very important practical significance.On the basis of a comprehensive analysis of existing rehabilitation medicine and robotics research, this paper proposes a new set of wearable lower limbs rehabilitative robot system which can train both lower limbs simultaneously.This paper first introduced the research backgrounds, status and future development trend about the related areas at home and abroad, then analyzed the research meaning and purpose of lower limbs rehabilitative robot and its technical difficulties. After analysis of the composition of lower limb bones and skeletal muscle and mechanism of lower limb movement, we first configured the degree of freedom of mechanism. We did configuration design of the drive mechanism for each joint, and then proposed a wearable lower limbs rehabilitative robot body model driven by parallel serial mechanism. Then did kinematic analysis on the joint driven mechanism of this wearable lower limbs rehabilitative robot mainly by Screw Theory. Finally, we made the3D structural model of the design by three-dimensional mechanical design software Pro/E.While doing dynamics analysis of the wearable lower limbs rehabilitative robot, we reasonably simplified the whole mechanism of robot as a7-link model. Then solved the inverse dynamics problem of the simplified model by application of Newton-Euler method. Analyst the dynamics problems of hip’s3-RPS mechanism and ankle’s3-SPS/S mechanism respectively by virtual work method and Kane’s method. Finally, under the premise of the giving output, we did the numerical simulation analysis of the driving force and binding force on the mechanism.In the control system design, on the basis of rehabilitation medicine works and signal processing, proposed a selection method of the rehabilitation reference of rehabilitative robot and the input and output variables of control system. Then designed a fuzzy neural network control system based on BP algorithm The system introduced human joint nerve action potential parameters, which can make the system have a self-learning adaptive characteristics, laid a theoretical foundation for the development of wearable lower limbs rehabilitative robot prototype control system.