Control Of The Wire-Driven Aid Walking Mechanism

As rapidly ageing population, injury and more traffic accidents, more widely need various degree of limbs treatment. Body weight supported treadmill training is an effective method for improving the recovery of walking ability, The effects of rehabilitation have been generally agreed by too many rehabilitation centers at home and aboard. Wire-driven aid walking mechanism in this paper has a great significance on practical implication as one kind of the Body weight supported treadmill training, which is used by lower limb rehabilitation for helping paraplegias, hemiplegias and patients with walking difficulties.This thesis firstly introduced the development of the aid walking rehabilitation robots at home and aboard, and analyzed the application of the technology of the wire-driven in the field of rehabilitation. The programs of the wire-driven aid walking mechanism was proposed according to the outstanding advantages of the wire-driven, such as simple in structure, good in compliance and so on. By using Pro/E software, the structure design programs of the wire-driven aid walking mechanism were finished.Secondly, the simulation model of the wire-driven aid walking mechanism was set up by using of SimMechanics in the Matlab/Simulink simulation environment, an analytical study is carried out on the simulation model according to the principle of human lower limbs movement, the results of the analysis showed that the design of aid walking mechanism was Reasonableness and accuracy.Finally, according to the requirement of the aid walking mechanism motion control, the experimental prototype of the wire-driven aid walking mechanism was developed, and the control system was designed and simulated. And then the experimental study was conducted based on the dSPACE system, which mainly included the actuation control characteristic experiment, the trajectory planning experiments with different experimental conditions and the gait rehabilitation training weight control experiments. Through the experimental analysis, the results showed that the control performance and precision of the wire-driven aid walking mechanism could meet the requirement of the body weight supported treadmill training.