Gait Planning And Control System Implementation Of The Lower Limbs Rehabilitative Training Robot

Rehabilitative robot technology, a newly-developed technique in recent years, is a new application in medical fields. It has made great achievement within several decades of development. The overseas rehabilitative robot research is quite developed. Since the study in the field of rehabilitation engineering in our country is inchoate, the research is practical.The study in this paper is the wearable lower limbs rehabilitative robot, which is a kind of rehabilitative robot. It can be fixed on the human body and driven by the actuator to walk aS a normal person. and make the patients do walking exercises and the disabled witll motion obstacles to recover.The paper describes the current development status and application of the rehabilitation robot domestic and abroad, as well as the future development of the key technologies, we propose the requirement for the lower limbs rehabilitative training Robot system. Through the mechanical structural analysis, the choice of hardware, the choice of means of communication and control system structure, motor control and a series of analysis, at last we decide to use ADAMS(Automatic Dynamic Analysis of Mechanical Systems), Lab VIEW (Laboratory Virtual Instrument Integration Environment), MATLAB, etc. as the foundation of software, use CAN cards, the DC servo motor, the motor driver and PC support structures as a lower limbs rehabilitative training Robot control system. The purpose of the development of lower extremity rehabilitation robot is to achieve the ultimate goal to enable patients to receive effective training in order to restore the ability to walk independently. That is to say, how to obtain walking gait is very important. Kinematic analysis and simulation walk through the human body including initial state, the normal walking state, the stop state of gait data. We can establish the gait database through the MATLAB software to make up the format of PVT data, namely P (motor’s position) V (motor’s speed) T (time interval).The lower limbs rehabilitative training robot control system was debugged under the premise of the acquisition of the hardware and software, to make the mechanical legs walk out of the gait characteristics of the human body. Experiments show that the lower extremity rehabilitation robot can achieve the desired function, also reflects good feasibility and practical value of medical applications of the lower limb. The acquired experiment data and the research experience during the study for the subject of further study has laid a solid foundation.