Research On Motion Control System Of Lower Limb Rehabilitation Robot

There are approximately 80 million stroke patients worldwide,60% of them have difficulty extremity movement.The conventional rehabilitation mode is that a rehabilitation physician corresponds to a patient,but the number of patients is far greater than the number of rehabilitation physicians,which means many much of them can’t get rehabilitation treatment.To solve this problem,a rehabilitation robot is proposed.With rehabilitation robot,a rehabilitation physician can help multiple patients.The training mode of the rehabilitation robot is that the patient follows the robot to move in the hospital rehabilitation room.This paper focuses on the research of the movement of the lower limb rehabilitation robot,which its specific contents are as follows:Positioning of lower limb rehabilitation robot.As a traditional robot positioning method,trajectory estimation can estimate the position and attitude of the robot,but it may lead to error accumulation.To solve this problem,the position and attitude of the robot are estimated by Lidar and Yaw in this paper.This method uses the distance between the robot and the corner of the wall estimated according to the data of Lidar and Yaw angles to calculate the coordinates of the robot.Experimental results show that the estimation error of this method is smaller than the traditional method.Path planning of a lower limb rehabilitation robot.For patient’s safety,robot must keep patients at a distance from obstacles.The repulsive force of the artificial potential field method keeps the robot away from obstacles.Therefore,artificial potential field method is selected as the path planning algorithm.But traditional artificial potential field method may cause trajectory unsmooth and the minimum value.In order to respectly solve these problems.Middle point is used to smooth the trajectory,and A * algorithm is used to solve the minimum value.Simulation results show that the improved algorithm makes the robot escape from a minimum.Trajectory tracking of Lower limb rehabilitation robot.In order to complete the robot trajectory tracking,ADRC is selected.Simulation results show that during the robot driving,the maximum error of the x coordinate is 0.1473 mm,the maximum error of the y coordinate is 0.1084 mm,and the maximum error of the heading angle is 0.3631 °.The use of robot model experiments further proves.Experimental results show that the robot can keep up with the target trajectory.The difference between the target endpoint and the actual endpoint is 64 mm.