Design And Research Of An Lower Limp Rehabilitation Robot

Technology of rehabilitation robot is a new technology which has developed in recent years and Is the outcome of the combination of rehabilitation medicine and robot technology,it has made great study achievements as the develop during decades, and some of the products was already in using. Research on rehabilitation robot began abroad is relatively earlier, which has just started in our country. So the research of this topic has important practical significance and application value. The lower limb rehabilitation training robot designation and research has been done with the support of high-tech industry projects that had improved by the Development and Reform Commission of Jilin province, which is called "The Design and Research of Lower Limb Rehabilitation Training Robot".Firstly, the related research of lower limb rehabilitation training robot at home and abroad was analyzed and summarized, as well as the pathogens of the disability of the human limb.Combining with the lower limb rehabilitation movement theory and methods of treatment to set the training pattern of the lower limb rehabilitation, meanwhile, the safe-design requirements and the design requirements of mechanical structure and control system of the lower limb rehabilitation training robot was summarized.The lower limb rehabilitation training robot was designed based treadmill structure. The man-machine model was established through the analysis of the foundation and model parameters the of lower limbs motion,on this basis, the lower limb rehabilitation training robot mechanical structure was designed reasonably, which has met the training requirements of patient with different stature, according with the requirements of control system, the hardware of control system was selected and designed. The model of active and passive control system was built, and their performance was analyses respectively. Combined with the characteristics of nonlinear, time-varying and obstreperous working environment, the control method of control system was studied. According to its own characteristics, the fuzzy algorithm, fuzzy PID algorithm and the strong tracking filter was studied, which has ensured the stability and the validity of the motion control system.Finally, the simulation experiment and experimental verification was carried out. In order to verify the fuzzy PID/fuzzy algorithm, combined with the strong tracking filter was able to meet requirements of the control system,the simulation of system was done through the MATLAB software. Meanwhile, human-computer interaction interface was designed based on LabVIEW, and details of the operation process of lower limb rehabilitation training robot.To validate the lower limb rehabilitation training robot,the experimental prototype of lower limbs rehabilitation robot was built.The test results has shown that, the designed lower limb rehabilitation training robot can work with small control error, good repeatability, so that the problem of lower limb rehabilitation training in patients with functional disorders was solved.