Lower Limb Rehabilitation Training Robot Control Based On Pneumatic Proportion Technology

With the development of economic and improvement of living standards, Chinahas been come gradually into a society of old libation, and patients with lower limbdamage caused by brain jailer, stroke, and traffic accidents, has been grownincreasingly. Traditional BWSTT (partial body weight supported treadmill training)needs rehabilitation therapists help to finish, which increases the working intensity,reduces the rehabilitation training and rehabilitation effects. Combined robotics withrehabilitation medicine theory, lower limb rehabilitation training robot emerged at theright moment, which can not only help patients with treadmill training, exercise legmuscles, improve the nervous system damage, and restore normal walking ability, butalso guarantee the training intensity and time, and reduce the labor intensity,. Thelower limb gait rehabilitation training robot mainly driven by motor, has an expensiveprice and a strong rigidity and flexibility, which can’t satisfy the demand of humansecurity and comfort in the rehabilitation training.Combined the gas features of compressibility, flexibility and security, this paperstudied a kind of the lower limb rehabilitation training robot based on pneumaticproportional technology, which has a simple structure, high security, and good functionand flexibility. It can be used both in the rehabilitation training for the limb injuriesand in the exercise for the elderly. This article designed the overall scheme of lowerlimb rehabilitation training robot based on pneumatic proportional, and built theexperimental platform of partial body weight supported control system, exoskeletongait trajectory control system, and electromyographic signal collection system. Withthe method of D-H parameters to analyze kinematics of exoskeleton joints, it builtmodels of man-machine and treadmill exercise, partial body weight supportedpneumatic control system, and pneumatic proportional control system, verified thereasonable of its institution and then analyzed it with Matlab software. Based on thecontrol platform of computer and Siemens PLC, it used the proportional valve to drive cylinder and artificial muscle, to achieve functions of partial body weight supportedand humanoid walking gait of lower limb. With Step7software combined with thesimulation analysis of mathematical model, and adaptive algorithms of two-stage PIDand gait trajectory, it has achieved semi-active control and passive control andcomplete experiments of partial body weight and three patterns of gait rehabilitationtraining, established the rehabilitation evaluation standard.The experimental results showed that it performed well and had a continuoustrajectory, safety characteristics and good control effects on position and speed, whichhas a high practical value and market prospects.