Research On Controller And Experiment Of The Lower Limbs Rehabilitative Robot

Rehabilitative robot is a new technology that has been developed rapidly in recent years, that represents the robots application in the medical field. Lower limbs rehabilitative robot is one kind of the reha robot. Lower limbs rehabilitative robot can simulate the motion of normal human's walking gesture and give the patients rehabilitative training to help them recover from illness. The main research of this paper includes the structure design, mechanism simulation, control system design and experiment with the prototype.The paper systematically overviews the developing situation of Rehabilitative robot, and puts forward the overall structure scheme for Lower limbs rehabilitative robot. In the paper the kinematics models and the kinematical analysis of the lower limbs rehabilitative robot are introduced concisely. On this foundation, using SimMechanics Blockset of MATLAB simulates the gait mechanism and gesture mechanism to get the mechanism parameters to adapt the normal human being's stepping. The simulation provides the theoretic basis of optimization designing.Through the simulation the control system for controlling gait and gesture equipments have been developed for the lower limbs rehabilitative robot. The paper studies and designs the circuit driving the servomotors, the serial communication circuit, and the encoder input circuit etc. The embedded controller software based on the AVR assembly language and the user interface software based on VC++6.0 have been developed for the robot's control system.At the end of this paper it introduces the experiment with the lower limbs rehabilitative robot prototype. Experiment results indicate that the machinery and control system of the lower limbs rehabilitative robot reach the design request, and this robot has good rehabilitative effect.