Research On Power Mode Control Strategy Of The Lower Limb Rehabilitation Robot

In this paper, the theory of modern rehabilitation medicine,rehabilitation mechanism ofstroke patients with hemiplegia as the theoretical basis, problems of rehabilitationtraining on the stroke patients with emiplegia, The effect of systematic research, and theeffect of rehabilitation training this is rehabilitation of lower limb rehabilitation robot,And divide the whole process of rehabilitation hello to hemiplegic patients into four stages,For lower limb rehabilitation robot active stage, lower extremity exoskeleton rehabilitationrobot assisted stage, Hemiplegic patients with active, limb exoskeletons rehabilitationtraining robot passive (with training) phase and the lower extremity exoskeleton,Rehabilitation robot resistance stage, this thesis focuses on the control of lower extremityexoskeleton rehabilitation robot assisted stage, The design method of choice, a leg of ahuman body, to establish mathematical model of the lower limb rehabilitationrobot impedance controller, Simulation of lower extremity exoskelet on rehabilitationrobot impedance controller model of error compensation, the lower extremity exoskeletonrehabilitation robot impedance controller, The lower exoskeleton rehabilitation robotimpedance control parameter adjustment principle analysis, the concrete researchcontents are follows:(1)According to the normal walking gait of walking data, analysis of hip, knee joint, Analysis of the rehabilitation process of patients with lower limb, the limb after rehabilitation, training, rehabilitation of limb movement angle, The second is the limb musclestrength recovery,rehabilitation,training the rehabilitation o angle, Patients with legmuscle strength recovery process needs the exoskeleton provides certain help, The rehabilitation training at this stage can not only training in patients with leg muscle strength can ensure that no limb damage two times pull.(2)The establishment of mathematical model of human leg has always been a hotissue, Due to the characteristics of human leg muscles flexible, model of the humanbody is obviously unreasonable, The leg of a human body model is treated as springdamping model,This can be close to the human leg feature maximum, The spring damping model better instead of the elastic proprtie of hunman leg.(3)To assist rehabilitation training in patients with stage, A good control method is the basis to ensure the normal operation of the system. At present, processing capacity and, control method for position control of a powerful/hybrid control, Adaptiv e control method, Method of intelligent control and impedance control method. Analysis of the characteristics of each control method, Comparing the advantages and disadvantages of each kind of control method of selected control, method of impedance, Impedance control method is divided into the force based impedance control method and position based impedance control method.To compare the advantages and disadvantages of two kinds of control methods, Combined with rehabilitation purposes the position based impedance control approach.(4) Position impedance control method based on,Due to the system’s friction, a series of factors to establish the mathematical model of accuracy and so on will cause system error, To eliminate the model error exists is crucial to the control system RBFneural network hasgreat advantages in the error problem, The final will be combinedwith the two control methods, design the RBF neural network compensation controlle(5) Stability of impedance control method is verified theoretically, through stability simulation controller, Co simulation using Solidworks software and Matlab softwareGet the performance curve of force control, And the three important parameters impedance control performance is analyzed, the preliminary principle to adjust the impedanceparameters.