Exoskeleton Control Of Lower Limb Rehabilitation Based On Central Pattern Generator Network

With the accelerating rate of aging,China has the largest elderly population in the world.Stroke has a very high incidence and disability rate in the elderly population,and patients usually have varying degrees of paralysis sequelae,which can lead to partial or complete loss of lower extremity motor ability without timely and effective rehabilitation treatment,causing tremendous pressure on the patient’s family and society.In this paper,we designed a lower limb rehabilitation exoskeleton system based on the control concept of central pattern generator network(CPG),which is different from the traditional passive rehabilitation devices,for the physical rehabilitation of lower limbs of hemiplegic patients.The research of this paper consists of the following three parts:1.Analyzing a more efficient and concise computational six-dimensional spatial rigid-body dynamics algorithm derived by Featherstone on the basis of the classical Newton-Euler dynamics algorithm,and building a human motion control system by suing Matlab platform,and obtaining the torque and angle information of the lower limb joints,when the volunteers has perform the rehabilitation actions.2.Studying the control principle of CPG physical unit,and anglyze the oscillation characteristics of the network system composed of multiple CPG units.Establish the mathematical model of the CPG oscillation network,and integrate the mathematical equation set of the oscillation network.The characteristics of each parameter in the CPG oscillation network and the influence of each parameter of the whole network,are analyzed through several sets of experiments.The parameter values suitable for the motion control of the lower limb rehabilitation exoskeleton are derived.3.Completing the prototype construction of the lower limb rehabilitation exoskeleton,and design the mechanical,hardware selection and software debugging of the prototype.Finally,through three sets of experiments,we are designed and the prototype system is tested on volunteers.