Research On Control Strategy Of Ankle Rehabilitation System

The ankle joint bears the weight of the human body and is the most important joint in the lower limb joints.For stroke patients suffering from ankle dyskinesia,their ankle joints are in the state of foot drop for a long time,and there will be irreversible damage if they cannot receive rehabilitation treatment in time.However,the limited number of rehabilitation physicians causes patients to miss the best treatment opportunity;At the same time,the heavy and tedious rehabilitation tasks also greatly increase the workload of the rehabilitation physicians.With the advancement of robotics,many researchers have combined it with medical rehabilitation technology,which promotes the rapid development of the field of medical rehabilitation robot.In order to solve the various deficiencies of traditional rehabilitation training,a complete ankle joint rehabilitation robot system is designed in this subject,which can replace or assist medical staff and assist patients in rehabilitation training.This topic introduces the surface EMG signal,which can apply the patient's active motion intention to rehabilitation training.The GDBT algorithm is used to identify the discrete motion mode of the ankle joint.The joint motion angle is estimated by the BP neural network,and the angle curve is sent to the system's lower computer to assist the patient's ankle joint to track the corresponding angle trajectory.Ankle rehabilitation robots are auxiliary robots that come into direct contact with the human body.When the interaction moment between human and machine suddenly increases,the robot should show a certain compliance to ensure safety.Therefore,in this subject,the related research on the impedance control algorithm is carried out.By designing adaptive control laws of stiffness parameters and damping parameters,the interactive moment is used to adjust the robot's end-point movement angle and speed in real time,so that it shows equivalent flexibility to the outside.,So that human-computer interaction can be more friendly.Finally,this topic combines the suggestions of rehabilitation doctors to design and implement a comprehensive set of rehabilitation and evaluation functions for patients with different conditions and the specific conditions of patients during different rehabilitation periods.