Research On The Compliant Human-machine Connection Of Lower Limb Rehabilitation Robot And Human Participation

The number of patients with hemiplegia has increased year by year due to the rapidly rising proportion of aging population in China and rehabilitation training robots have been continuously developed.At present,most rehabilitation robots use strap connection which tends to cause discomfort or even secondary damage to patients.Modern medicine shows that passive training in rehabilitation training has limited effect while active participation in rehabilitation shows significantly improved effect.Therefore,promoting greater participation of patient in training is a key issue in the research of rehabilitation training robots.This paper proposes a compliant human-machine connection mechanism and human body participation model,which can reduce unnecessary human·machine contact force and obtain more comfortable and safer rehabilitation environment without affecting the human body’s followability to the rehabilitation robot.The human body participation model can obtain the current participation level of the human body according to the force signal,and the participation level can be used to adjust the traing speed and and improve the effect of rehabilitation.The specific research contents of this paper are as follows:(1)Research and simulation soft man-machine connection configuration:a soft man-machine connection mechanism was put forward and the kinematic and dynamic simulation,will smooth the man-machine connection mechanism compared with bind the man-machine connection mechanism,analysis of the human body joint Angle change force situation and legs,and the results showed that bind man-machine connection system with axial man-machine contact force was positively related with human body alignment error rule,complaisant man-machine connection can be in does not affect the human body under the condition of rehabilitation training effectively reduce unnecessary axial contact force of rehabilitation training,improve human comfort.(2)Active rehabilitation training oriented human participation evaluation method:first of all users of the body surface semg signals to modeling of participation,analysis of gait training at the same time,the man-machine eontact force ehanges in the use of force signal based on participation of electromyographic signal model for fitting,get the participation model based on force signal,this model test,the test results show that the participation model based on force signal effectively.(3)Research on robot control methods for active rehabilitation training:in order to enable patients to enter and maintain active rehabilitation training,and improve the training effect,fuzzy impedance controller and PID controller were designed respectively to speed the motor.The fuzzy impedance control inputs the active force of human body into the impedance controller,adjusts the impedance parameters in real time,and produces the speed correction of the motor.PID control takes the degree of participation as the controller input to adjust the motor speed in real time.(4)Experimental research:the experimental platform of the compliant man-machine connection system was built,and the feasibility of the compliant man-machine connection was verified through the human body following experiment.The active rehabilitation training of fuzzy impedance control and the active PID control training based on degree of participation were carried out respectively.The experimental results of the two methods prove that the PID control based on degree of participation can enable patients to maintain a high degree of participation in the active training.The innovation points of this paper are:(1)A flexible human-machine connection mechanism is proposed,it can reduce human-machine contact force caused by joint error to a certain extent and improve human comfort.(2)A human participation model for active rehabilitation training is proposed,which can obtain human participation according to human-machine contact force.