| With the increasing number of stroke patients and the continuous progress of robot technology lower limb rehabilitation robot emerged.It can provide rehabilitation training for patients,and the core of the training system is the control system,the quality of the control system directly affects the training effect.Good functional recovery depends on correct rehabilitation training,and correct rehabilitation training must be based on correct rehabilitation evaluation,so rehabilitation evaluation is the basis of rehabilitation training.Aiming at the existing problems,this paper proposes a control strategy and rehabilitation evaluation system for lower limb rehabilitation robot based on gait data.First of all,for the design of the control system,this paper obtains human joint motion data through Opensim modeling and simulation,and carries out dynamic modeling and simulation for the lower limb rehabilitation robot in this paper.In addition,the trajectory tracking simulation experiment of BP neural network PID control strategy is carried out,and the simulation stage verifies that the algorithm improves the tracking accuracy of the system.In view of the possible accidents in the process of rehabilitation training,the design of safety protection strategy,through real-time detection of human-computer interaction force,to ensure the safety of patients.Secondly,for the design of the rehabilitation evaluation system,under the premise of analyzing the current evaluation standards,this paper takes the three levels of joint mobility,gait trajectory and gait phase as the evaluation standards,and determines the weight of each level through the analytic hierarchy process.The evaluation grades were established based on the Brunnstorm scale.Aiming at the shortcomings of the fuzzy logic phase separation strategy in the gait phase level,an improved fuzzy logic phase separation strategy was constructed.Through phase separation experiments on people with different weights,it was verified that the improved fuzzy logic phase separation strategy has better self-adaptiveness.ability.Aiming at the high price and poor flexibility of current rehabilitation collection equipment,this paper designs a low-cost,portable rehabilitation evaluation collection system that can meet the measurement accuracy.Finally,the tracking experiment results showed that the average tracking error of hip and knee decreased by 16.32% and 31.24%,respectively,compared with the classical PID,and the maximum tracking error decreased by 21.2% and 24%,respectively.Experimental results show that the algorithm improves the tracking accuracy of the system.The experiment of safety protection strategy shows that patients can be protected in real time by detecting human-computer interaction force.Through the rehabilitation evaluation experiment,the multi-dimension lower limb rehabilitation evaluation system has certain rationality. |
