Research In Willed-movement Control On Walking System Of Rehabilitation Training Robot

Lower limb rehabilitation robot system is a mechatronics system and the essence of its research is to find the methods that how the information between the robots and the patients perceives, operates, transmits and controls, aiming to achieve the best effect of lower limb walking gait and rehabilitation training. By analyzing and summarizing the current domestic and international researches of lower exoskeleton rehabilitation robot control strategy, this topic puts forward the willed-movement control strategy finding out the shortcomings and deficiencies. Based on this, putting forward a kind of willed-movement control strategy, and designing control system for the lower-limb rehabilitative robot.According to patients, willed-movement control strategy makes full play to the patients’ intension to voluntary movements, to achieve required training patterns in different stages of the rehabilitation training. The willed-movement control strategy is divided into two subsystems, exoskeleton gravity compensation control system and healthy limb teaching control system. If the patients have movement ability, applying the exoskeleton gravity compensation control system, making the exoskeletons move following sick limbs’ movement; if the patients’ limb movement ability is insufficient, applying the healthy limb teaching control system, limb exoskeleton drive side limb movement, making the limb rehabilitation training according to driving sick limb movement by exoskeleton. Designing the initial gaits of willed-movement control system, so that complete the whole rehabilitation action, improving patient safety at the same time. Identifying the standard of independent movement intention in willed-movement compensation system. By identifying the standard of independent movement intention, the two subsystems are combined to form a complete willed-movement compensation system.By analyzing and summarizing the current domestic and international researches of lower exoskeleton rehabilitation robot control strategy, finding out the shortcomings and deficiencies. Based on the detailed analysis of main structure of lower limb rehabilitation robot researched in this project, putting forward a kind of willed-movement control strategy, and designing control system for the lower-limb rehabilitative robot. Experimental results show that the control strategy can be better to complete the task of rehabilitation training,the research laid the foundation for the following rehabilitation strategy.