| With the continuous improvement of people's living standards,the problem of aging population is gradually revealed.More and more elders have lost their walking ability because of the nerve injury which is cause by cerebral apoplexy or other diseases.The lost ability of walking not only ruduces their quality of life greatly,but also cause burden to their children and the society.However,the advent of rehabilitation robots,successfully solves the problem.It combines the rehabilitation medicine theory with the current hot robot technology.It improves the efficiency of rehabilitation and reduces the intensity of the therapists' work effectively.In this thesis,the gait rehabilitation training robot driven by electric machinery is a new type of training device designed for the shortage of artificial weight loss rehabilitation training.At first this thesis reviews the current situation of the rehabilitation robot at home and abroad,learns the essence,then puts forward the overall design of the rehabilitation robot and designs a lower limb rehabilitation robot with 7 DOF based on treadmill.Then,according to the gait data obtained from foreign literatures,the standard gait curve is obtained by using Matlab simulation tool for three spline interpolation,and the corresponding control strategy is proposed.And then,refer to the detailed parameters of the mechanical leg,I convert the gait data which is acquired from foreign literature to "PVT" data that can be recognized by the motor.At last,in VS2013 environment,I write a program about user interface by MFC which achieves the functions of data acquisition and controls by using the CML(Copley Motion Library)Class Library which is provided by Copley company.As the patient's personal data and the amount of data for the rehabilitation are huge,this thesis will use MySQL to build the database.In order to establish a good foundation for the next research,I test functions of the system and verify its rationality and feasibility. |
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