Research And Realization The Control System Of A Lower Limbs Rehabilitative Robot

As the medical theory and clinical medicine proved, in addition to early surgical treatment and necessary medical treatment, reasonable and scientific training for the rehabilitation of a lower limbs motor function recovery and improvement plays a very important role for the patients with lower limbs paralysis. In most of the current rehabilitation, the limb therapist do some massage. But this training model can not guarantee adequate training time and training intensity, and the training parameters is not precisely controlled and recorded. In addition, the existing lower limbs rehabilitation medical devices are in poor performance. So a study on the lower limbs rehabilitative robot is becoming very urgent.This thesis takes a lower limbs rehabilitative robot as the object for research, and takes gait control of the lower limbs rehabilitative robot as the core. the thesis studies the technology of multi-axis coordinated control and achieves the control of the gait of rehabilitative robot. the lower limbs rehabilitative robot is made to simulate the gait of normal people, which achieves the goal of design.The main work of this thesis is as follows:(1) Research the strategy of the hardware control. Firstly, design requirements and total structure design are clarified, and several communication methods are researched and analyzed. Taking CAN-bus as communication ways between nodes of the lower limbs rehabilitative robot. Three control structures are researched, then analysis and research are carried out.(2) Research on hardware system of the lower limbs rehabilitative robot is carried out. The design principle of hardware system design is researched. Control performance of three closed-loop DC servo motor is analyzed as well as control methods of DC servo drive motor are studied. Hardware circuit system is designed and realized by studying CANopen protocol.(3) Software control system is deeply analyzed and designed, and the program of the multi-axis coordinated control system is established. Firstly, design principle of software control system and rebuild plan of standard gait curves are researched. The database of body standard gait is built by researching the plan of gait. Secondly, the multi-axis coordinated control system is built based on Labview. The thesis analyzes the function of a important model and the operation process of control system. Lastly, the plan of collectting patients’ gaits and control strategy which will keep patients safe is proposed.(4) Control system experiment is studied. The curves of actual position and the speed of motr on each joint. For the experimental curves appear jitter in the output curves of actual motor proposed three correction programs of PVT data. The program of making a smooth curves is chose after comparing the three programs. Considering users, the plan of altering the stride frequency and the speed of a pace is chose.After simulating experiments and measuring the actual curves of body gaits, the thesis proves the correctness of the chosen data and the reliability and stability of the control system. The key data and research experience are achieved from the research, which established the foundation of the lower limbs rehabilitative robot being producibility.