Barycentre Control For Walking Rehabilitation Training Robot

Tens of thousands people get movement function handicap of limbs from various types of diseases worldwide, such as stroke, spinal cord injury, traumatic brain injury and cerebral palsy, those diseases can influence people's entire life. Along with the value of people to these patients and the development of science,technology of rehabilitation robot has made great progress and outstanding contributions to health professions. Barycentre control system can be applied to lower limb rehabilitation training for patients, such as assistive parients for rehabilitative training on the treadmill or walking training robot. Barycentre control system can reduce patients' portion weights, reduce the leg support strength, reduce the gravitational field during the rehabilitation training, some assistant supporting training systems can be the most effective methods of rehabilitation.This subject is Joint research project between Mechatronics lab of Harbin engineering university and Kunshan industrial technology research institute, the entire development and design process are accomplished in a joint operation between the university and the enterprise. The prototype is made and debugged in the enterprise, take full advantage of the resources of the enterprise and the frontier technology of the university, fully reflects the advantages of platform of producing-studying-researching, cooperation between school and enterprise are more conducive to production from technology.Firstly the thesis introduces the the domestic and foreign development present situation and Development prospect of rehabilitation robot technology, According to the comparing and analyzing of driving modes and structural modes in gravity control system, determined the structure and control scheme of gravity control system in the walking rehabilitation training robot. In order to ensure safe and reliable operation of the reducing weight system,intensity analysis and modal analysis are carried out to the structure to prevent the insufficient of strength or resonance during the system operation.Secondly, set up the model of DC motor by determining and measuring the parameters of the selected DC motor, using the Signal Constraint tools in Matlab to specify the parameters of speed controller, establishes simulation models of gravity control system, and the system feasibility was validated by carrying out the simulation experiments of speed closed loop and position close-loop.Finally, based on the control system, the critical hardware is choiced and studied, such as motor driver, force sensor and signal amplifier.Semi-physical simulation system is setted up, and the experiment research are carried out with the prototype. Through the Matlab control program and the QPID Real-time debugging, the parameter optimization experiments of speed closed-loop, position closed-loop,force closed-loop are done respectively, and carry out the research of soft control algorithm based on the speed closed-loop and position closed-loop. Experimental results show that the performance of control system can meet the design requirements, operation of the system is stable and reliable, the weight reduction functions of lower limb rehabilitation training can be achieved.