Reaserch On Lower Limb Exoskeletom Rehabilitation Robot System Coordinated Control

In this paper,the lower limb exoskeleton rehabilitation robot includes weight support system,multi-mode training platform,wearing lower exoskeleton robot and the control system and so on.The body weight support system,multi-mode training platform and rehabilitation exoskeleton robot are the most important part of three.They are complementary and indispensable each other.The coordinated control between the three of them is especially important.If coordination is not so good,it will not carry out effective training,or even constitute the second damage to the rehabilitation patients.It is crucial to considering the patients' safety and efficiently training.So this thesis takes the coordinated motion between the three as the core content.And the main contents include the following aspects:First of all,through the analysis,especially the systems coordinated control / movement,of lower extremity exoskeleton robot at domestic and foreign research status,and combined with the requirements of the lower extremity exoskeleton rehabilitation robot system we get the really necessity of coordinate operation and the urgent needs of the ultimate aim of rehabilitation training in this subject.Secondly,analysis and research respectively on the whole rehabilitation system and its subsystem structure and function.Need according to the request of the subject and related to rehabilitation medicine to determine the structure principle and the function of each part,establish the control principle and flow chart and need to further establish sub system model and control system model,for subsequent coordinated motion to build research platform.Again,analysis the coordination movement of the whole system based on the model of each part.To solve lower extremity exoskeleton rehabilitation robot and multi-mode training platform for coordinated motion,following weight loss platform and lower extremity exoskeleton robot coordinated motion needed to meet the conditions,according to the conditions for the establishment of the PID controller model,and using MATLAB simulation analysis.Finally,according to the rehabilitation process in the coordinated motion control requirements,application and deceleration method to fit the multi-mode training platform and follow the equation as a function of weight loss platform displacement,velocity,acceleration and further the sub system in the process of motion curve in the regulation system of coordinated motion.The main contents of this paper mainly include the following aspects:First of all,respectively on the rehabilitation system and its subsystems are studied.The requirements of the project and rehabilitation principle determine the function of each part.And then I establish the mathematical model and control system model of each sub-system.Secondly,the analysis and research of the coordinated motion forms of the system between the various parts of each other in each part of the model were finished.To solve the two aspects to meet the needs of lower limb rehabilitation robot and multi model training platform for coordinated motion conditions,and the automatic matching research direction for further speed.Finally,according to the rehabilitation process coordinated motion control requirements,fitting the following equation as a function of weight loss platform displacement,velocity,acceleration,and finally come to the conclusion that the sub system in the process of motion curve in the regulation system of coordinated motion.To evaluation the control performance the rehabilitation performance,further more efforts should laid on the foundation.And all of them provide a theoretical basis.