Development Of Modular Gait Training Rehabilitation Robot Control System

As an important branch of robotics,the lower limb rehabilitation robot is a kind of robot that can help patients with lower extremity functional disorders such as stroke,hemiplegia,and other diseases to recover their walking ability.With the increasing demand for rehabilitation,the shortage of rehabilitation doctors,the difficulty of quantifying the work of human assisting patients in rehabilitation training,and the need for higher training effect,lower limb rehabilitation robot has attracted more and more attention.In this paper,a modular lower limb rehabilitation robot control system is designed to help patients with lower limb motor dysfunction reconstruct their motor function through quantitative training.To ensure the real-time performance of the rehabilitation robot control system,a system software platform with Linux + Xenomai dual-core realtime operating system as the robot controller system software platform and Chibios realtime operating system as the joint driver is constructed,and a distributed modular network structure scheme of the system is proposed.To ensure the safety and effectiveness of patients’ rehabilitation training,a fitting scheme of fusion polynomial and Fourier series based on the principle of least square is proposed to realize the continuous and smooth periodic trajectory of human gait.To reduce the influence of nonlinear and strong coupling characteristics in the rehabilitation robot model on the performance of the rehabilitation robot algorithm,neural network adaptive control,improved neural network adaptive control,model predictive control based on system identification,and Model Predictive Decoupling control algorithms are proposed successively.To realize active rehabilitation training and avoid secondary injury to patients in the process of rehabilitation training,a man-machine interactive compliance control strategy is proposed based on the principle of the virtual tunnel.At the same time,a safety monitoring system is developed to monitor the running position,speed,torque,and other information of the rehabilitation robot in real-time,to improve the safety of patients in rehabilitation training.To verify the effectiveness of the proposed algorithm,a Matlab-Adams joint simulation control platform is constructed,and the simulation experiment of the proposed algorithm is carried out.Finally,the proposed algorithm is verified on the principle prototype of the lower limb rehabilitation robot.