Asymmetrical Rigid-flexible Hybrid Lower Limb Rehabilitation Robot And Research On Remote Cooperation Technology

Lower limb rehabilitation robot(LLRR)has positive effect on restoring normal motor function in patients with motor dysfunction,but the rehabilitation sites of stroke patients are different,while rigid robots are mainly used for gait rehabilitation training.The rehabilitation effect of medial lateral muscle group and buttocks muscle group is limited.Therefore,this paper proposes a rigid and flexible hybrid lower limb rehabilitation robot configuration for the rehabilitation of inner and outer thigh muscle groups.With the number of stroke patients increasing year by year,the proportion of rehabilitators and patients is seriously out of balance.The emergence of telemedicine technology provides a new way to solve this problem.In this paper,telemedicine technology is combined with rigid and flexible lower limb rehabilitation robot.The purpose of this paper is to effectively improve the work efficiency of rehabilitators and enable them to formulate rehabilitation strategies for multiple patients at the same time.In this paper,the mathematical theory,simulation,experiments and other aspects are studied,the specific situation is as follows:Aiming at the disadvantages of the patients who need the recovery and outreaching exercise and the single gait rehabilitation training of the existing lower limb rehabilitation robot,a configuration of the 2R3 T rehabilitation robot which can realize the lower extremity adduction outreaching,internal rotation and external rotation is proposed.MATLAB/Stateflow was used to analyze the spin-out and internal rotation motion.According to the physiological structure of lower extremity in ergonomics,an asymmetrical rehabilitator operation model was designed.Based on the transfer of position and force between the operator and the patient,a remote cooperative control scheme is proposed.Using the modified D-H method to construct the positive kinematics model of human lower extremity,and referring to the rehabilitation track collected by FAB system,the author completed the planning of the motion trajectory of the patient’s abduction and abduction.The inverse kinematics and dynamics model of the lower limb rehabilitation mechanism was established,and the changes of the position,velocity,acceleration and tension of the cables were obtained.According to the mechanism model of the rehabilitator’s operating end mechanism,the kinematic derivation is carried out,and the changes of the position and posture of the mechanism are discussed,and its workspace is analyzed.Aiming at the remote cooperation technology of rigid-flexible hybrid lower limb rehabilitation robot,the analysis of force feedback algorithm is completed.Based on the need of good stability,position tracking and force transparency for the remote cooperation of the rigid-flexible hybrid lower limb rehabilitation robot,the passive theory and the absolute stability theory are introduced for the stability of the system.The two-sided PD control method based on the absolute stability theory and the patient end force feedback control method are determined.The advantages and disadvantages of each evaluation index are deeply analyzed by using the dual-port network technology for the two control methods.The position tracking property is verified by using two-terminal SimMechanics mechanism model,and the simulation analysis is established.Aiming at the remote cooperation technology of two-terminal robot,in order to study the control method mentioned above,a single degree of freedom force feedback two-sided control system is built,and the patient end mechanism and rehabilitation teacher end mechanism are constructed.By using this system,the end force feedback control experiment was carried out,and the position tracking and force feedback curves were obtained,which verified the feasibility of the remote cooperation technology of the rigid-flexible hybrid lower limb rehabilitation robot.