Research On Lower Limbs Exoskeletons Rehabilitation Robot Based On Electromyography Signal Control

In the current society,the situation of limb movement disorder caused by aging or accidents is increasing day by day,which provides an opportunity for the development of rehabilitation robot technology.As the main part of daily activities such as human walking,the lower limb exoskeleton rehabilitation robot for patients with lower limb dyskinesia has become a research hotspot in the field of rehabilitation robot.In this paper,a full-featured and compact lower extremity exoskeleton rehabilitation robot is designed,and the human-machine dynamics model,motion intention decoding and control system are studied.After thoroughly studying the physiological structure of human lower limbs,the mechanical structure of exoskeleton robot is designed,and a virtual prototype is built in Creo software.For the joints of active motion,the DC brushless motor is used with the harmonic reducer,and a modular joint with compact structure,convenient maintenance and replacement is designed.The kinematics model of exoskeleton robot is established by Denavit-Hartenberg parameter method.The dynamic model of exoskeleton robot and human-exoskeleton system is established by Lagrange method,and dynamics simulation is carried out in Matlab/Simulink software to obtain the torque variation rules of the exoskeleton robot's hip joint and knee joint,and a method to quickly obtain the torque of human joint muscle is proposed.After understanding the generation mechanism and characteristics of s EMG,a signal processing system for extracting signal eigenvalue and muscle activation degree is built by using Matlab/Simulink software,and the decoding of motion intention based on signal eigenvalue and muscle activation degree is studied.Studies have shown that the i EMG and RMS reflect changes in the speed of motion,and summarize the relationship between muscle activation and joint torque.According to the recovery degree of patients,three control strategies: passive training mode,active training mode and impedance training mode is designed.The exoskeleton robot control system based on single chip microcomputer is built.The core control algorithm adopts fuzzy PID algorithm,which uses fuzzy logic adjusts the PID parameters in real time to achieve stable control of the robot's movement according to the set trajectory.Figure65;Table13;Reference 51...