| Stroke damages motor neurons and causes paralysis,which brings a huge burden to individuals,families and society.It is of great significance to recover the motor function of patients by grasping the intention and motivation of active rehabilitation of stroke patients,and using the rehabilitation training equipment with strong interaction to assist them in conducting repetitive rehabilitation training.This paper combines advanced control technology and human-computer interaction to design a pedal-based on-demand neurorehabilitation training device.The main research contents are as follows:1.Determine the structural size of the rehabilitation training device based on ergonomic principles,check and optimize the size in consideration of the limit range of joint motion;establish a flexible transmission drive system to match the performance parameters of the power transmission system with dynamic parameters;establish a Simulink/Adams joint simulation model,Analyze the speed following performance of the mechanism,and provide a basis for the research of control strategy.2.’A hierarchical control structure is adopted to realize on-demand auxiliary control strategies.The impedance control is selected as the basic framework of the upper controller.The signals of crank rotation speed,plantar pressure and rate of change are collected to determine the patient’s rehabilitation intention and ability.Fuzzy control is used to adjust impedance parameters in real time and output control command signals.The lower-level controller is constructed by the command feedforward controller,the state feedback controller and the disturbance compensator based on the nominal inverse model,and the performance of the controller is verified by software-in-the-loop simulation.The results show that the control strategy can improve the system’s following performance of the command signal,and effectively reduce the speed following error and speed fluctuation.3.Build a rehabilitation training prototype to verify the control strategy,and then carry out the rapid acceleration-deceleration experiment,the step speed command following experiment,the on-demand auxiliary simulation experiment and the spasm input simulation experiment.The experimental results showed that the control strategy designed in this paper can accurately identify the patient’s intention and effectively prevent spasticity.At the same time,in terms of command following,the following error is small,while the overshoot is small,and the system remains stable. |
