Research And Implementation Of Control System Of 6-dof Leg Exoskeleton Type Lower Limb Rehabilitation Robot

With the development of robotic technology and rehabilitative medicine,the robotic technology is introduced into the the rehabilitative training of patients with central nerve damage,it was beginning to explore at domestic and overseas research institutions.This topic of this research is the lower limb rehabilitation robot,and the application object is caused by stroke,nerve damage and nerve damage patients who lose the ability to walk.Domestic market of lower limb rehabilitative robots has been increasingly mature,but compared domestic technology in the field of lower limb rehabilitation with abroad,there is a big gap for lower limb rehabilitative robot technology research is imminent.The main task of this research is six degrees of freedom mechanical legs plate type lower limb rehabilitative robot,thus puts forward the improved scheme,designs and structures a new control system,and realize the function of rehabilitative training on the principle prototype.This thesis analyzed the current development of lower limb rehabilitative robot at home and abroad,analyzed the difficulties of the research,and introduced the original six degrees of freedom of legged exoskeleton structure briefly,mechanical leg joints driven by dc motor and run machine adopts ac motor drive.According to characteristics of the robot's driving mode,In consideration of the system accuracy,stability and safety,and based on industrial PC control platform,the CAN bus communication,combined the card of Copley CAN and drive CML C++ class library provides PVT motion control functions,to realize multi-axis coordinated control of each joint,complete function of rehabilitative training.PC control software based on VC ++ development,and carry the My SQL database of patient information management.This research through the analysis of the kinematics of exoskeleton mechanical legs,in combination with standard gait curve obtained from the literature,obtained start state,state of normal walking,halt state,under the three states of the complete data of gait.And according to the exoskeleton mechanical legs detailed parameters of the driving mechanism of the gait data conversion to motor need to PVT data format,has been used to the athletic control of the machine.This thesis introduced the rehabilitative training of lower limb rehabilitative functional testing,and through the test data for real-time and stability of the robot were evaluated,thus further verified this topic of lower limb rehabilitation robot control system is feasible and effective.