Control System Research Of Horizontal Lower

The horizontal lower limbs rehabilitation training robot is a medical robot whichis used to lower limb rehabilitation. As the number of people who fill in stroke andlose the lower limb function is more and more great in the aging society, the traditionalrehabilitation training can’t meet the demand for rehabilitation.In this paper, the research status of lower limb rehabilitation robotat home andabroad is located and summarized.Based on the rehabilitation medicine and themechanical system platform which is build in the early stage, the theory of clinicalrehabilitation exercise and relearnabout the lower limb hemiplegia caused by cerebralapoplexy is in-depth study. The training modes of horizontal lower limbsrehabilitationincluding passive rehabilitation training and active rehabilitation trainingare put forward. Meanwhile, the overall control scheme of lower limb rehabilitationrobot is proposed which is aimed at the horizontal lower limbs rehabilitation trainingrobot build in the early stage. By comparing different control strategies, the speedfeed-forward and acceleration feed-forward PID control algorithm is chosen as themechanical system’s control strategies. For the passive rehabilitation mode, choosingJoystick hand shank as teaching tool, a teaching function of horizontal lower limbsrehabilitation training robot is developed basing on the motion control platform ofsolid technology co.,LTD. Then hardware and software systemsare designedrespectively. The software systems including teaching control program and human-computer interface are designed Visual C++and dynamic link library provided byGTS-800-PV-PIC. Last, the surface electromyogram signal of horizontal lower limbsrehabilitation training robotis researched. The mechanism and characteristics ofsurface electromyogram are stated, and the pickup assembly is introduced deeply.Under the condition of laboratory, the teaching function is verified throughteaching test. Experimental results show that the teaching function has feasibility andflexibility. Meanwhile, the application test is made to surface electromyogram signal. The experiment result expresses that surface electromyogram signal can reflect theexcitation of muscle and people’s voluntary movement consciousness to some extent.