Trajectory Control Of Omni-directional Mobile Lower Limbs Rehabilitation Robot Based On Hunman-computer Interaction

With the increasingly serious problem of global aging, a variety of brain diseases,sports injuries, accidents and so on caused lower limbs function disorders increasingsignificantly. In addition to timely surgical treatment and necessary medical treatment, thecorrect and scientific sports rehabilitation training for patients plays an important role infunctional recovery. However, the omni-directional mobile lower limbs rehabilitation robotprovides safe, reliable, intelligent and humanized pedestrian training equipment forpatients. At the same time, it also provides training platform for preventing walking abilityof elderly from declining.Aiming at human disturbance (Time-varying, unpredictable contact force fromhuman arms and robot affects walking track of robot) from the process of omni-directionallower limbs rehabilitation robot training patients designed a three-dimensional sensor. Thetraditional one-dimensional sensor only detects the force in one direction, but notcompletely reflects all the information in three directions between robot and human arms,so the human disturbance is not easy to be removed. In order to more completely reflectthe contact force changing between patient and robot in training process. First, a flexiblethree-dimensional force array sensor was designed which can measure time-varying,unpredicted contact force. This thesis elaborated the process unit structure of sensor how tobe established, and also introduced its working principle, simulation result andExperimental verification. Second, the mathematical model of omni-directional lowerlimbs rehabilitation robot under human disturbance was constructed, on the basis of themodel designed feed-forward compensation controller to deal with human disturbance.Finally, Experiments verify that three-dimensional force array sensor can detect humandisturbance and feed-forward compensation controller can realize human disturbancesuppression.Innovative points: designed a three-dimensional force array sensor which can detectthree-dimensional time-varying contact force between robot and human arms; Proposed mathematical model of omni-directional lower limbs rehabilitation robot under humandisturbance. On the basis of the model designed feed-forward compensation controller, thedesign offers the possibility to eliminate the disturbance from patient and simplifies controlmethods.