Research On Inertial Parameter Identification And Fuzzy Master-Slave Control Method Of Lower Limb Rehabilitation Robot

In the process of normal walking,there is a certain correlation between the upper and lower limbs of the human body.This relationship can be used to establish the mapping relationship between upper and lower limbs during walking(fuzzy master-slave mapping).And using this mapping relationship,it can make the damaged limbs do master-slave control rehabilitation training.A healthy upper limb uses as the main hand and the damaged contralateral lower limb uses as the slave hand.The healthy limb is used to control the damaged limb for rehabilitation training.According to the concept of rehabilitation training for lower extremities,this paper designed the rehabilitation program.And according to the rehabilitation program,it designed control scheme and the corresponding sensor placement program,and then designed the overall structure of lower limb rehabilitation robot and active joints,man-machine contact parts of the mechanical structure.In accordance with the upper limb control leg rehabilitation training concept,analyzing the upper and lower extremity motor relations is need.The upper and lower limbs of human have the same movement mechanism,therefore they have the same kinematics theoretical model.The 3-DOF kinematics,inverse kinematics and dynamics models of the unilateral limb were established with the upper limb shoulder joint and lower limb hip joint as the origin respectively.The correctness of the inverse kinematics model and the dynamic model was verified by Adams and Matlab simulation.The 6-DOF kinematics and dynamics model of bilateral lower extremities were established with the support foot as origin.The correctness of kinematic model and dynamic model was verified by Adams and Matlab.In order to establish the dynamic model of human lower extremity accurately,it is necessary to identify the inertial parameters of lower limbs.The sequence identification method is used to identify the mass and mass center of the human lower limb,and then identify the rotational inertia of human lower limb according to the identification result of mass and centroid.Firstly,it identified the inertia parameters of the lower leg and the foot.Then it identified the combined values of the inertia parameters of the thigh and calf.Finally,it calculated the inertia parameters such as mass,centroid and moment of inertia of the thigh according to the mass geometric relation of the rigid body.It built the Simulink model forinertia parameter identification based on Matlab software,and verified the validity of the proposed inertia parameter identification method.It is necessary to establish the mapping relationship between upper and lower limbs in order to realize the rehabilitation training of the upper limbs.This paper measured the angle of the hip,knee joint of upper limb,elbow joint and lower limb in normal walking condition through gait measurement experiments and analyses the upper,lower limbs gait trajectory.By using fuzzy method,it established the mappings between upper limb wrist movement and lower extremity ankle movement.The correctness of fuzzy master-slave mapping between upper and lower limb movements established by this paper was verified by Matlab.