Gait Trajectory Planning Of Lower Limb Rehabilitation Robot Based On PVT Data

As China’s population aging continues to worsen,more and more elderly people have lost their ability to walk in recent years due to nerve damage caused by diseases such as stroke.Inconvenience caused not only a serious decline in the quality of life of their own,but also a serious blow to their own spirit,as well as a heavy burden on relatives and friends and the community.The most important research result in the field of neuro-rehabilitation in the past 30 years is to prove that the central nervous system has a high degree of plasticity through experiments and make it possible to recover damaged nerve connections.Foreign researchers have carried out a large number of researches in the field of robot functional rehabilitation.The research goal is to develop robots with rehabilitation treatment and evaluation functions.Experiments show that specific functional training is essential in this process,which provides an important medical basis for robot assisted rehabilitation techniques.However,the domestic rehabilitation medicine industry is still in its infancy in china,and there are such problems as the large number of patients and the lack of resources for therapists.Therefore,it is of great practical significance to actively develop the rehabilitation of motor assisted limb motor function.Rehabilitation robot combines the theory of rehabilitation medicine and robot technology,improves efficiency and reduces the work intensity of physiotherapists as well.The main content of this thesis is the planning and implementation of PVT gait trajectory based on brushless DC motor-driven lower limb rehabilitation training robot,which is the basis of rehabilitation training of lower limb rehabilitation robot.Simplifying physician-patient "one-on-one" treatment through robotic and computer-controlled technology.According to the development status of rehabilitation robots at home and abroad,this thesis proposes the overall design scheme of lower limb rehabilitation robot and designs a 7-DOF active-running lower limb rehabilitation robot.By referring to the original gait data in foreign literature and using the cubic spline interpolation method in CFTool of Matlab to obtain the smooth gait curve,the gait data is converted into the required motor according to the mechanical parameters of the mechanical leg PVT data,and finally the corresponding control strategy.Finally,write a UI interface in QT5.8,and use the Copley Motion Library(CML)library provided by Copley for Copley series drives to realize basic communication,data acquisition and control functions,and collect corresponding drivers to return data for analysis.Through the experiment,the functional test of the previously constructed system to verify the rationality of the gait trajectory,the feasibility of rehabilitation training,lay a solid foundation for the further development of equipment R&D work.