Study Of A Symmetrical Rehabilitation Training Device For Lower Limb Based On Motion Learning

There are a lot of disabled people in our country, among which the lower limb disabled accounts for a high proportion. How to makes these people as soon as possible, to return to normal life, has been the problem we need to solve.The symmetry of the structure and function of the lower limb of the human body, which makes it possible to carry out rehabilitation training through the symmetrical lower limb training device.Surface EMG signals generated by human muscle activity reflects the characteristics of human motion. By the EMG of lower limb, to design a symmetric type lower limb training device makes it impossible to rehabilitation training. According to the symmetry of the structure and the movement of the human body, this paper makes a study on the control of the lower limb rehabilitation training device based on the threshold value of EMG. Research contents include: the value of EMG signal acquisition and feature extraction; lower limb rehabilitation training device design, the effectiveness of EMG eigenvalue of rehabilitation evaluation;control method based on the EMG signal of the lower limb rehabilitation training device.First, under the understanding of rehabilitation robot current developing situation,introduces the lower limb of the human body physiological foundation and movement characteristics, expounds the EMG signal generation mechanism and signal characteristics; design the EMG signal acquisition system based on LabVIEW, and through to acquisition of signal filtering, amplification and conversion etc. extraction the iEMG value, root mean square, mean power frequency etc. three characteristic values; with the three characteristic values as input, design based on support vector machine of lower limb motion pattern recognition, and achieved recognition results are credible.Secondly, based on the symmetry of the structure and function of human lower limb, in consideration of the safety and practicability of design overall scheme of symmetric type lower limb rehabilitation training, mechanism design, 3D modelingand key part of the verification and selection of rehabilitation training device based on SolidWorks; according to the design scheme, the established mathematical model of training, and the institutions of the kinematic analysis.Finally, based on the characteristic value of the surface EMG signal, study of the corresponding relationship between the EMG signal and the Holden evaluation stage,and reveal the intrinsic relationship between the characteristic value and the rehabilitation process. The study shows that the EMG characteristic value can reflect the different rehabilitation status, and can be used as a rehabilitation index for rehabilitation evaluation. The training device control method based on the threshold control of the surface EMG signal is designed. The control mode adopts the characteristics of value and responses to a predetermined reset threshold and threshold control training device.When the feature value is less than the response threshold, the system is keeping stationary; when the eigenvalue is in response to a predetermined threshold and reset the threshold between, the system is positively movement; when the eigenvalues large in a preset reset threshold, the system is reverse movement, in order to achieve the control of training joint exercising apparatus.