Study Of A New Control Method For Gait Rehabilitation System

Walking is an important symbol of people's ability to act,but also the guarantee of an independent living.However,the decline of body function or some disease damage will lead to the elderly or patients with varying degrees of lower limb motor dysfunction.With the aggravation of aging in China,the number of patients will continue to increase.After the initial surgery or drug treatment,some patients can return to the extent of independent walking,but most people will still exist some pathological gait,decreased balance and other symptoms,seriously affecting the quality of life.Therefore,the research of lower limb rehabilitation robot is more and more valued by modem medicine and scientific research.Aiming at the domestic and international research present situation,this topic has developed a kind of lower limb rehabilitation robot to help the elderly with weakness lower limb or the lower limb function disorder patient carries on the daily walking and the gait training,and proposes a new type of lower limb rehabilitation robot gait control method.This lower limb rehabilitation robot mainly consists of differential wheel drive system,lifting control system,human-computer interaction system,gait acquisition system and so on.The gait control method proposed in this paper can make the robot adapt to the movement of the user's gait,and can achieve the function of automatic follow-up.It realizes the man-machine friendly and safe interactive way.Experimental results show that the mean speed follow-up error is 5.6%and the average distance follow-up error is 1.8%in the following test.The experimental results have proved the effectiveness and feasibility of the proposed gait control method.The main innovative points of the lower limb rehabilitation robot are as follows:(1)The gait control method is unique and innovative,and has a certain reference value for the study of man-machine fusion interaction.(2)The adaptability of the system not only present in that automatically adjust the height according to the different objects,but also lie in that can easily change the system parameters,to better adapt to the use of objects in different rehabilitation stage;(3)Compared with the general optical motion measurement system,gait measurement system is not only inexpensive,but also has very low requirements to the environment.Further,gait measurement system can accurately and objectively record the use of objects in motion in the course of a variety of motion parameters,quantitative detection and evaluation of the means,which could be a help for doctors to provide an objective medical reference,and to provide more scientific rehabilitation training model for the patients.