Study On Stand Exercise Rehabilitation Robot System And Control Strategy

With the aging of the population is becoming more and more serious,more and more people suffering from hemiplegia and stroke diseases,the sequelae of such diseases cause severe limitation of the lower extremity motor function.At the same time to enter the era of the automobile in China,the number of lower limb motor dysfunction caused by traffic accidents is increasing year by year.Nowadays,the demand for lower limb rehabilitation training robot is higher and higher.However,stand up movement plays a key role in the process of rehabilitation training in the lower extremity,it is the prerequisite for the completion of other lower limb movements and activities.At present,the research of sit-to-stand rehabilitation training robot system has become one of the hot topics and important subjects.Combined with the present situation of the research on the lower limb rehabilitation training robot,firstly,the main body joint of hip and knee and ankle joint is introduced in detail in this paper,and the human motion system of skeletal muscle and nerve detailed explanation,to provide the necessary theoretical basis for rehabilitation medicine research station rehabilitation training robot system.Then combined with the human sit to stand motion cycle characteristics,the human body up to the analysis of periodic motion,a new method is proposed to build a rigid body biomechanical model,and the dynamic equations and the centroid position expressions corresponding to each stage of the biomechanical model are determined,in this paper.Next,the advantages and disadvantages of the existing control methods are compared and analyzed,the control method of finite state machine(FSM)combined with fuzzy PID is defined.After that,the system simulation is analyzed by using Matlab/Simulink software,and the simulation results are compared with the single PID control method.Finally,make the human body up exercise rehabilitation strategies,namely passive training and active training combined with rehabilitationstrategies.Stand up exercise rehabilitation training robot system in this research and control strategy,although some progress has been made.However,the more in-depth research is still in the initial stage,so it is necessary to do a lot of analysis and experimental verification.In this way,the control system can be successfully transformed into rehabilitation training products for clinical rehabilitation treatment.