The Research Of Rehabilitation Lower Extremity Exoskeleton Coordination Control System

In recent years,population aging,traffic accidents and competitive sports contribute to the increasing number of the lower limb disease patients.Exploring new means of rehabilitation therapy to ensure the quality of life of patients,reduce the shortage of medical resources is urgently required.The exoskeleton robot is a mechanical device which is worn outside the human body and provides support and protection for the human body.For the different stages of lower limb motion disorder,this project develop coordination control system for both rehabilitation and assistance lower extremity exoskeleton respectively,to achieve the exoskeleton to help the body for rehabilitation training and walking assistance.In this paper,firstly,we study the mechanism of lower limb motion of the human body,and analyze the rehabilitation strategies of lower limb motion disorder.By designing the non-dynamic measurement lower limb exoskeleton robot,complete the data collection of the joint motion of the lower extremity when human body is wearing the exoskeleton.Then the hardware and software platform of system is set up,which includes exoskeleton joint motors and motor drivers selection,control panel hardware design and sensors hardware design,lower extremity exoskeleton control algorithm function is achieved by C language.On the basis of the above,the research on the rehabilitation control system of the lower extremity exoskeleton was explored.Firstly,the measured off-line trajectory of the joint is tracked by PID control algorithm.Secondly,a joint trajectory planning method based on the estimation of human-gait exclusion was proposed,the coordinated control of human lower limb and exoskeleton robot is achieved.The control system of rehabilitation lower extremity exoskeleton proposed by this paper could help patients with lower limb motion disorder to stand again,achieve smooth and comfortable continuous walking.The fuzzy PID control algorithm of joint position control is designed to improve the bandwidth of the control system in the final.Finally,the walking assistance control system of the lower extremity exoskeleton is discussed.Based on the derivation of the lower extremity exoskeleton mathematic model,a model-based walking assistance control strategy was proposed,and the internal impedance of the exoskeleton joint was analyzed in detail,and the precise control of the output torque of the exoskeleton joint is realized by collecting the man-machine contact force.The walking assistance control system could assist the human body during the walking period by reducing the body's energy consumption and fatigue.In addition,this paper develop a method for evaluating the assistance effect of the exoskeleton based on muscle electrical signals,and further experiments will be performed on it.