Research On Control Method Of Gait Rehabilitation Robot For Hemiplegia

With the acceleration of the aging population,the number of hemiplegia patients caused by CCVd,nervous system disease,injury on-the-job and so on is sharp increased,but the rehabilitation technicians are seriously lacked.In addition,traditional rehabilitation has lots of disadvantages.So researching gait rehabilitation robot can increase the quality of patients' life,reduce the patients' family burden,has great academic value and social significance.Based on the analysis of research status of lower limbs rehabilitation robots,propose the control scheme for patients with hemiplegia to complete the personalized gait.Changed the situation witch use the standard gait to train patients.Proposed a control scheme for the patients that have part ability of walking but can't complete gait witch can switch the rehabilitation strategies through detect the ability of walking.Design the Real-time Data Acquisition system of the gait information that the healthy limb of hemiplegia patient have.Post marks on the healthy limb,then capture the images of the healthy limb of patient when training.Process the images and acquire the unique gait information of the patient.Design different rehabilitation strategies and control strategies for different rehabilitation stages.When patient with hemiplegia don't have walking ability,adopt passive rehabilitation strategies witch mean the affected limb is driven by lower extremity exoskeleton to complete the gait.When patient have power to drive the affected limb,adopt positive rehabilitation strategies witch mean the lower extremity exoskeleton follow and protect the limb.The couple strategies can detect the force between lower extremity exoskeleton and affected limb to determine whether the patient can continually drive the affected limbs,then switch between different rehabilitation strategies.Based on the analysis of kinematics and dynamics of gait rehabilitation robot,design different control schemes for different rehabilitation strategies.Adopt Fuzzy control to complete the trajectory tracking of nonlinear time-varying system under the passive rehabilitation.And adopt position-based impedance control to solve the problem of human-machine interface.Develop a gait rehabilitation robot experimental prototype.Complete the multi-thread application,the experiment of acquiring the information of healthy limb,the experiment of trajectory tracking under passive rehabilitation and the experiment of position/force control.Verify the rationality of the gait rehabilitation robot by experiment,stability of the control system and the feasibility of the control schemes.