The Control System And Experimental Study Of The Waist Rehabilitation Robot Based On SEMG Signal

Due to aging and growth of the hemiplegia patients,lumbar dysfunction patients are increasing.Because of the limitations of the existing methods of the waist rehabilitation and the shortages of therapists and effective rehabilitation equipment,the high cost and the tiny effect became a problem in rehabilitation.In order to effectively help the waist injury patients,this paper designs a new type of the cable-driven waist rehabilitation robot with intelligent rehabilitation training.In this paper,a new cable-driven waist rehabilitation robot is designed for the waist injury patients,which mainly includes mechanical structure,kinematics and dynamics analysis.According the degree of the waist injury patient,the corresponding waist rehabilitation training strategies were developed.The EMG(Electromyographic signal)signal is good response of the human body movement to use for the intention recognition.In order to achieve the main-passive rehabilitation training,the multi-channel sEMG signal of the waist was acquired.Due to the weak electromyographic signal,the low frequency and the high impedance,we designed the filtering circuit of EMG signal,then preprocessed the acquisition signal and extracted the characteristic value of sEMG signal for the waist motion pattern recognition which classify and identify the forward,backward,left and right bend of the waist motion,ensuring the safety of rehabilitation training and improving the active participation of the waist injury patients.Two classifiers,BP classification and SVM classification,were used to classify and identify the four kind of the waist motion and the accuracy rate reaches 94.7%.Finally the multi-sensor information of the waist rehabilitation robot was fused and the waist rehabilitation robot was controlled by differential PID control on multi-sensor information fusion algorithm.Analysis and comparison with the result of simulation and experiment,soft cable length and pull data basic was consistent with the experiment,and the simulation degree of the patients waist is same of the experience,so the experiment verifies that the active-passive rehabilitation experiment of the waist rehabilitation robot is feasible.