Multifunctional Lower Limb Rehabilitation Robot System Design And Research On Coordinated Control Algorithm

Patients with limb dysfunction due to stroke and other diseases,people with disabilities due to traffic accidents or trauma,and the elderly with degraded lower limb function need to recover a large number of high-intensity,targeted and repetitive rehabilitation training to restore their limb function.Modern rehabilitation medicine proves the effectiveness of lower limb rehabilitation training.At present,artificial rehabilitation training methods used by rehabilitation doctors have problems such as insufficient number of doctors and rehabilitation effects cannot be guaranteed.Based on this,a multifunctional lower limb rehabilitation robot with mobile functions is designed in this thesis to help patients with different rehabilitation stages to perform full-function rehabilitation training.The main work of this thesis includes the following:The three-dimensional model of the complete structure of the multifunctional lower limb rehabilitation robot is designed and designed in a modular manner.The rehabilitation robot is divided into different modules for development,in order to maintain complex robot systems and upgrade functions.The rehabilitation robot control system scheme is designed,and the entire robot system is divided into the host computer's main controller and the single-chip microcomputer co-controller,the underlying motors,drivers,hub motors and other actuators,as well as various sensors and other sensing mechanisms.Program the human-computer interaction interface of the host computer,and control the motor through a single chip computer.The functions and gait characteristics of human lower limbs were analyzed,and the commonly used gait detection methods were summarized.Based on this,a multi-link human gait data acquisition system was designed based on the actual situation.Set up a software and hardware experimental platform and perform human gait acquisition experiments.Fit the experimental data of the hip and knee joints of the subject in different ways,and generate joint motor control data based on the hip and knee joint trajectory functions as a robot.The basis of the control algorithm.The kinematics and dynamics model of the lower limb rehabilitation robot was established,and the lower limb exoskeleton of the rehabilitation robot was reduced to a three-bar model.The D-H parameter method was used to analyze the forward and inverse kinematics of the mechanism.The unilateral walking leg was simplified into a two-bar model,and the dynamic analysis was performed by the Lagrange method,and the torque was simulated by the Simulink tool of MATLAB to verify the correctness of the dynamic model.At the same time,the PD controller is used as the control algorithm,and the simulation analysis is performed.For different rehabilitation stages,different rehabilitation training modes are used,and a coordinated control algorithm is designed.When the patient performs active and passive rehabilitation training,his walking speed matches the speed of the moving vehicle body.The patient can walk on the ground and the vehicle body moves forward synchronously.Finally,a rehabilitation robot prototype experimental platform was set up and the control experiment was completed.The experimental results show that the rehabilitation robot can meet the needs of human lower limb rehabilitation training.In the coordinated control experiment in the patient's active mode,the walking speed of the subject and the moving vehicle speed of the robot were 0.825 m/s and 0.813 m/s,respectively.The corresponding running speeds of the subjects were basically matched,effectively achieving coordinated control.