Design Of The Control System Of Limbs Rehabilitation Training Robot

Treatment for patients with hemiplegia has always been a research focus in the field of rehabilitation,and the treatment program requires the long-term persistence of patients.Since the effect of traditional rehabilitation methods is not satisfactory,the introduction of robotics to treatment will improve the efficiency significantly.This article developed effective rehabilitation equipment in combination with robotics on the basis of rehabilitation methods so as to provide scientific and reasonable treatment option programs for patients with different conditions.Combined with the needs of the industry and users,we developed a limb rehabilitation robot which is capable of training upper limbs and lower limbs simultaneously.A limb rehabilitation robot can be divided into leg motion module and arm motion module.First,the motion structure program for each module and the hardware and the software programs for system control were designed based on the characteristics of the physical structure of human body;driving program was determined,and relevant drives,sensors and other control components were selected;basic functions and control strategies were determined according to design requirements.Forward and reverse kinematic analyses were conducted on the motion joints in legs to plan kinematic velocity,build kinetic model and analyze the stress condition of movement components;models of servo drive system and DC motor models were built,and position velocity dual closed-loop control models were built and PID parameters were adjusted.Visual Studio 2005 was applied to develop a control software,which is a visualization operating software developed based upon MFC.The software requires operation platform of WinCE with a beautiful and friendly user interface,and is capable of communicating with lower computer and sending control commands,as well as monitoring and processing system status.In accordance with the control software,the model machine was installed and commissioned to improve the equipment performance;motion data of the robot was measured through QPID semi-physical simulation platform.No-load and load experiment analyses were carried out to validate the relationship between the load and the movement.The applicability of velocity planning was also validated to prove the stability and reliability of the system.