Research On Servocontrol Of Pneumatic Assistant Mechanical Leg

Rehabilitative robot is a new technology that has been developed rapidly in the recent years; it is a new application in the field of medical rehabilitation. The research on the pneumatic artificial muscle (PAM) applied to lower extremity rehabilitation domain has just started in China for a short time, therefore, thistopic of research has further practice meaning.This paper makes a study of the pneumatic assistant mechanical leg droved by PAM, and the control strategy and algorithm of pneumatic assistant mechanical leg are completed. The ultimate goal is to let a man walks smoothly with the pneumatic assistant mechanical leg that reduces his energy using in the course of walking and accelerates the lower extremity rehabilitation. The main contents of the research are as follows:First of all, we study PAM, and then establish the static model of pneumatic muscle, and also carry out the simulation and experimental research on pneumatic muscle fundamental characteristics. The experimental model of pneumatic muscle is derived on the basis of experimental research. The static and dynamic models of joint actuated by pneumatic muscle are established, and that static characteristics of joint as well as every parameter affect dynamic characteristics of joint is analysed. Basing on the dSPACE real-time simulation system, according to various control purposes, variable integral control method, nonlinear PI with forward feedback control method and fuzzy PI control method are carried out in the simulation and experimental research on the position control of joint actuated by pneumatic muscle, and we acquire a good control effect.Basing on the research of single joint actuated by pneumatic muscle, according to the people's walking posture, adopting fuzzy control policy, the fuzzy PI controller of pneumatic assistant mechanical leg is designed and the real-time control of pneumatic assistant mechanical leg is realized by dSPACE. Detecting the system state and adjusting the system parameter can make the position control more accurate.