Research On Rehabilitation Control Strategy Of Traction Cervical Spine Rehabilitation Robot

With the acceleration of people’s life rhythm and the change of living habits,the number of patients with cervical spondylosis has increased sharply in recent years.The prevention and treatment of cervical spondylosis is an important issue in the current society.The current treatment methods are mainly divided into surgical treatment and non-surgical treatment.Since most patients have mild symptoms,traction therapy has become the first choice.In order to improve the efficiency of traction and ease the workload of doctors,the paper designed a traction cervical rehabilitation robot.And the corresponding control strategy is put forward,aiming to effectively improve the dynamic response and control accuracy of cervical vertebra rehabilitation traction force.This paper intends to carry out the following research:Analyze and summarize the current status of cervical rehabilitation therapy and the problems in its use.Combining the physiological structure of the cervical spine,the analysis of the movement mechanism and the rehabilitation mechanism of cervical traction,a cervical rehabilitation robot that can achieve precise positioning and precise traction loading is designed.Using vector method and Newton’s Euler method,the kinematics model of positive and negative solution of cervical rehabilitation robot,servo motor actuator dynamic model,and cervical traction belt dynamic model are established respectively.On these basis,the overall dynamics model of the cervical rehabilitation robot is established.From the perspective of control block diagram,the factors affecting the improvement of active traction and passive traction loading performance are analyzed.In order to improve the tracking performance of the main passive force,a force control method based on the speed loop is proposed.The Stribeck friction torque model is established,and a compensation method combining friction torque compensation and traction torque is proposed to improve the motor speed loop tracking performance.In order to overcome the influence of external interference and modeling errors,a sliding mode control method is proposed.The linear feedback method is used to design the sliding mode control rate,and the Lyapunov theorem is used to prove the stability of the sliding mode controller.In order to verify the effectiveness of the external force loop,the internal loop speed loop,the combination of friction torque compensation and traction torque compensation,and the effectiveness of the sliding mode controller,Simulink is first used to build a model,and simulation verification is performed on this basis.Furthermore,a semi-physical simulation experiment platform of traction cervical rehabilitation robot based on rapid prototype control is built,and the effectiveness of the proposed control method is verified through experimental research.