| Recent years the rehabilitation robot technology is developing rapidly and it is throughoutthe bio-mechanics, electronics, rehabilitation medicine, computer graphics, machine learning,computer vision, materials science, mathematical analysis, robotics and many other areas. Withthe development of technology and science, the lower limb rehabilitation robot has beendesigned by combining more developed robot technology with traditional rehabilitationtreatment method. The lower limb rehabilitation robot can simulate the walking gait of normalpeople so it can replace rehabilitation doctors to help patients with effective rehabilitationtraining. Due to advantages of robot with high accurate action and inexhaustibility, therehabilitation training intensity, effectiveness and efficiency for patients are greatly improved.This project starts with the analysis of human normal walking gait and then designs alower limb rehabilitation robot which can simulate human normal walking gait, and kinds ofcontrol systems of rehabilitation training models are preliminarily realized.In this paper, the development situation of lower limb rehabilitation robot and its controlsystem both in China and abroad is fully studied firstly. In order to achieve kinds of settingrehabilitation control strategies, a whole control system is designed and the major researchdirection and research object are determined as the foundation of next step.Based on the detailed analysis of main structure of lower limb rehabilitation robotresearched in this project, four rehabilitation training models of rehabilitation robot are definedand a logical control method is also to be sure according to characteristics of rehabilitationtraining model; According to the further calculation, brushless DC motor is used to be thedriving source of whole control system and PID speed regulation control method is used tocontrol DC motor in order to satisfied with motor requirements with high accuracy, fast responseand small overshoot. Through the detailed analysis of kinds of rehabilitation control strategiesand the principle satisfied by control system, hardware components of control system areselected. In order to satisfied with the fast response of control system and high efficient of dataprocessing, STC12C5A60S2single-chip is selected as the processing chip of control system; The rotation speed of DC motor is the most important control parameter of control system so fixedphotoelectric encoder on the motor output shaft, then testing and showing the real time rotationspeed of DC motor is the important part of control circuit.Based on the theory above, utilizing selected hardware components of control systemconsist of a simple control system and then downloading the successful simulative programmerinto control system and observing experimental results. By verifying, this control system cannicely achieve parts of setting rehabilitation training tasks with stable operation system and fastresponse, thus it is a good foundation for the future study. |
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