Research On Control And Virtual Reality Technology Of Lower Limb Rehabilitation Robot

Combined with the characteristics of clinical rehabilitation therapy, the paper designs a lower limb rehabilitation training system based on virtual reality technology for the lower limb rehabilitation robot which designed by our lab. The system makes traditional rehabilitation therapy parametric and quantitative, and improve the efficiency of rehabilitation training with virtual reality technology.First, the kinematics and dynamics of rehabilitation robot are analyzed in this paper, the inverse kinematics solution and Lagrange dynamics equation of the single leg of the rehabilitation robot are solved. Control scheme of passive training and active training are designed based on the results of kinematics and dynamics. Passive training is a rehabilitation robot to drive patients to complete the design of the training action. The motion of the control system is carried out at the end of the robot leg when the passive training is carried out. The paper offers five kinds of passive training track. Active training complete the action according to the patient's willingness. In order to obtain the movement intention of the patient, the dynamic equation of the man-machine combination was established. Based on analytic hierarchy process this system puts forward the method of rehabilitation evaluation to design more scientific rehabilitation training program for the patients. This method can be used to evaluate the patients quantitatively, and it is convenient for doctors to set up scientific training programs for patients.Secondly, the paper design two virtual reality scenes combined with virtual reality technology, which can complete the rehabilitation training for patients with rehabilitation robots. With lower limb rehabilitation training system based on virtual reality, on the one hand can reduce the labor intensity of rehabilitation physicians, on the other hand can improve the initiative of patients during the course of training, improve the efficiency of rehabilitation. In order to facilitate the centralized management of the training of patients, the paper propose remote rehabilitation training program. The host can focus on more than the physician with the task set, and can view real-time training parameters of patients.Finally, the feasibility of the training system is verified by experiment. On the one hand, the planning trajectory is verified, and the rationality of the planning trajectory and the stable performance of the robot legs are analyzed. On the one hand, the active training test combined with human and robot is carried out to verify the correctness and rationality of the active training program. The whole debugging of the virtual reality training system is carried out. Data transmission capability and synchronization performance between host rehabilitation PC and rehabilitation robots, rehabilitation robots and virtual reality are verified.