Study On Adaptive Interactive Control Strategy Of Lower Limb Rehablitation Robot Based On Emg Feedback

As a new cross technology,combining medicine, biology, control, rehabilitation robot has received wide attention in the field of exercise rehabilitation research and become the research hotspot. However, the effects of rehabilitative robots are weaken when the robots are short of individual adaptability and effective control strategy for it can not adjust the training mode according to the needs of patients like homework treatment. It limits the application of rehabilitative robots. So, this paper introduces the electromyography feedback technology to study the adaptive interaction control strategy and implementation method of lower limb rehabilitative robot based on biological feedback, and adjusts the adaptive training strategy based on state of the subjects. The specific work is as follows:Firstly, regard people-rehabilitation robot motion system as a whole, introduce the geometric method and Lagrangian method to set up lower limb rehabilitation robot kinematics and dynamics models of man-machine. At the same time, consider the influence of human movement on the system model and modify parameters of the proposed model. Compare the analysis of lower limb rahabilitation on system kinematics and dynamics respectively by Adams and Matlab, to verify the accuracy of the system.Secondly, analyse the energy differences of i EMG during the process of lower limb movement, aiming at the coherence of movement states and the physiology signals, identify the different motion intention of lower limb. At the same time, in view of the fatigue state in the process of movement, use decision tree analysis of EMG frequency domain index to realise the evaluation to the fatigue state.Again, aiming at the different fatigue state during the movement, build adaptive interactive control strategy of the rehabilitation system: in the stage with no fatigue, establish the s EMG and the man-machine interaction force information fusion model to realize the online trajectory planning, according to the uncertainty of model of the man-machine system, design the indirect fuzzy adaptive controller to realize the system of effective control; in the transition stage of fatigue, design fuzzy PID controller, realize the subjects of trajectory tracking control.Finally, set the lower limb rehabilitation robot control experiment system and design the hardware platform containing data collection, transmission and processing equipment, and control and drive apparatus, and lower limb robot. Design the signal processing and control software, collect the s EMG of healthy subjects and recognize the pattern of motion, evaluate the fatigue status in the methods of this paper. Apply the proposed adaptive interactive control strategy to the experiment system and verify the validity of the control strategy in this research.