The Control System For Lower Limb Rehabilitation Robot Based On Multi-sensor Fusion

As an important branch of medical robot,lower limb rehabilitation robot is the product of the combination of robot technology and medical technology.Aiming at the patients with motor disability in the late stage of rehabilitation treatment,in this paper,the control system of lower limb rehabilitation robot based on multi-sensor information fusion was proposed,aiming to assist patients in rehabilitation training according to their own motion intention.The control system was designed by gait experiment,a multi-information fusion gait recognition system construction and a improved PID algorithm based on the R-PM method with arbitrary phase angle margin.Firstly,the advantages and disadvantages of lower limb rehabilitation training methods are analyzed;combined with the human lower limb musculoskeletal biomechanics,the kinematics and dynamics characteristics of normal people during gait cycle was analyzed.Secondly,combined with the human lower limb movement mechanism,a gait experiment platform was designed,and the human body feature data in five gait movement modes(flat,up and down,and up and down slope(10°))were collected and analyzed,these provide data support for multi-sensor fusion algorithm,gait pattern recognition research and control system design.Thirdly,pre-processing and feature extraction of the collected multi-sensor data was carried out.With the gait features,data fusion was carried out by multi-sensor adaptive weighted fusion estimated algorithm,and the multiple classifier fusion voting system was built to train the fusion data.The accurate classification of five kinds of gait motion model was completed,and the precision of the recognition of the gait pattern was reach 99.43%.Finally,as the input data,the result of gait pattern recognition was used to design the control rehabilitation training system.In order to ensure the flexibility of the motion of the rehabilitation robot,an improved PID control algorithm based on the arbitrary phase margin R-PM method was designed in this paper.The simulation of the control system was performed through the SIMULINK module of MATLAB,which verifies the feasibility of the control system designed by this institute.Compared with the traditional PID control,the improved PID controller has the advantages of better motion stability,fast response speed and good tracking.