Rehabilitation Robot Sensing System Design Based On Multi-sensor Information Fusion

In recent years.On the one hand,with China’s increasing aging population, Mobility old people caused by body hypothyroidism becomes more and more;On the other hand, motility disorders caused by natural disasters is increasing.And the vast majority of patients have no effective treatment.In a large proportion of these people cannot be completed rehabilitation alone, they need the help of people or machine-assisted to complete rehabilitation. Therefore, this paper designs and implements a lower limb rehabilitation robot system that can assist patients with rehabilitation.Firstly, from the existing rehabilitation methods, this paper introduces the design of hardware and algorithms perception system and conducted experiments and analysis. The main contents include:1)Conduct analysis of existing rehabilitation methods. Only by understanding these rehabilitation methods,we can design a suitable rehabilitation robotic systems to achieve better rehabilitation training.2)Learn methods of rehabilitation medicine,and completed rehabilitation robot mechanical structure, perception systems, control systems and power system design.3)Design and implementation of the perception system hardware.Including hardware circuit design and implementation of foot pressure sensor module,encoder module, attitude instrument module and control module.Because of each sensor module and the control board using the CAN bus communication, so we introduced the CAN bus and designed the CAN bus communication protocol of perception system.4)Perceptual system algorithm design.Including each sensor signal filtering,the calibration of the pressure sensor, encoder information solver, information solver and integration of attitude instrument.5)Verify the applicability of each sensor module and effectiveness of the algorithm sensing system through experiment.In this paper, we combined the perception system of rehabilitation robot with control system of rehabilitation robot via CAN bus communication. And rehabilitation robot system development became easier and flexible.