Research On Human Active And Passive Control Strategy Of Lower Limb Rehabilitation Robot

With the rapid aging of the population,the number of hemiplegia patients caused by cardiovascular and cerebrovascular diseases,neurological diseases has increased sharply,resulting in limb movement disorders has a huge impact on the lives of patients.Rehabilitation robots can help patients complete various rehabilitation exercises,such as standing,upper and lower limb movements,improving their independent living ability and quality of life.Compared with traditional rehabilitation exercises,rehabilitation robots have better safety and rehabilitation effects.For rehabilitation robots,well-designed motion control methods can increase the stability and flexibility of the robot during rehabilitation exercising,improve the comfort of patients,and having a better exercise effect.This paper conducts research on the control method of an end traction type lower limb rehabilitation robot,designs a human lower limb dynamic parameter identification algorithm based on artificial neural networks,and conducts research on the active/passive control methods of lower limb rehabilitation robots on this basis.The specific research content is as follows:(1)Research on the algorithm of human lower limb dynamic parameter identification.Establish the kinematics model and dynamics model of the human-machine system of the lower limb rehabilitation machine.On this basis,a parameter identification algorithm based on the artificial neural network and the regression equation of the national standard library of human lower limb dynamics parameters is designed to accurately identify the inertial parameters of the user’s lower limbs and to establish an accurate dynamic model of the human-machine system.(2)Research on passive control methods of lower limb rehabilitation robots.Analyze the characteristics of different motion modes of the lower limb rehabilitation robot,calculate the kinematics parameters of the lower limb rehabilitation robot under different training trajectories.On this basis,the dual feedback PID control algorithm of the robot position and velocity which reliably follows the desired trajectory is designed to realize the passive control of the lower limb rehabilitation robot.(3)Research on active control methods of lower limb rehabilitation robots.Analyze the characteristics of the active control mode of the lower limb rehabilitation robot,design an impedance control based active control algorithm for the lower limb rehabilitation robot to ensure the stability of the user’s lower limb force during the rehabilitation movement process and improve the flexibility of rehabilitation exercising;Optimize the designed active control algorithm through parameter fuzzy rule self-tuning to achieve adaptive adjustment of the lower limb rehabilitation robot to different users and different states during rehabilitation exercising.(4)Design and build the human-machine experimental system for lower limb rehabilitation machines,and conduct experimental verification of the designed algorithm.