Research On Control System Of Lowerlimb Gait Rehabilitation Training Robot

Our country has entered an aging society,and the incidence rates of cardiovascular and cerebrovascular diseases and stroke are increasing,among which the vast majority of patients are accompanied by lower limb motor dysfunction.The traditional method of rehabilitation training is the one-to-one rehabilitation training for patients by rehabilitation doctors,but there are some problems such as low efficiency,rehabilitation effect depends on the level of rehabilitation doctors,poor subjective initiative and so on.Therefore,the development of robots that can assist patients in lower limb gait rehabilitation training can not only solve the problem of the shortage of rehabilitation doctors in society,but also greatly shorten the rehabilitation time and improve the rehabilitation effect,which has important theoretical significance and demand background.In this paper,combined with the self-developed lower limb gait rehabilitation training robot ontology,the lower limb gait rehabilitation training robot control system research,in order to achieve the compliant control of the robot.The main research work of this paper is as follows:1.Mechanical analysis of lower limb gait rehabilitation training robot.Combined with the structural characteristics of the lower limb gait rehabilitation training robot,the forward kinematics and inverse kinematics analysis were carried out,and the spatial relationship between the joints of the robot was established.On this basis,the kinematic simulation analysis of the three ropes and the rigid branch chain is carried out by using MATLAB,and the position,velocity and acceleration curves of the three ropes and the rigid branch chain with time are obtained.At the same time,Lagrange method was used to analyze the dynamics of the rehabilitation training device,and the dynamics equation of the mechanism was established.2.Research on control method of lower limb gait rehabilitation training Robot.Combined with the structural characteristics and motion characteristics of the lower limb gait rehabilitation training robot,based on the comparison of PID control,sliding mode control,fuzzy control and other commonly used passive control methods,the PID control method is determined to realize the passive control of the lower limb gait rehabilitation training robot.Based on the comparison of impedance control,electromyographic control,force-position hybrid control and adaptive control,a hybrid force-position control was proposed to realize the active control of the lower limb gait rehabilitation training robot.On this basis,aiming at the lower limb rehabilitation training device,the overall control scheme of hierarchical control is designed,and the control scheme design under the passive and active training modes is completed.3.Research on control system of lower limb Gait Rehabilitation training Robot.Based on the clear control system requirements of the lower limb gait rehabilitation training robot,the hardware design and software development of the control system are completed.In terms of hardware,the stepper motor is used to drive the rope driving device,and the servo motor is used to drive the suspension lifting device,handrail device,rotating platform device and screw slider device,and the motor and driver selection is completed.At the same time,the controller is determined to use STM32F103ZET6 single chip microcomputer.In terms of software,the program running process is defined,and the relevant control program is prepared.4.Experimental research.The experimental prototype of the lower limb gait rehabilitation training robot was built,and the rope driving force following test,the rope driving track following test and the shoe tracking test were completed,which verified the feasibility and effectiveness of the PID control method.