Study On Design,Simulation And Brain Control System Of Lower Limb Rehabilitation Exoskeleton

With the emergence of the problem of aging and the need for rehabilitation training of lower extremity injury,the lower limb rehabilitation training exoskeleton has been paid more and more attention.The lower limb exoskeleton is mainly worn in the human body and under the control system it can assist the patients realize the walking gait and rehabilitation training.How to design a wearable exoskeleton device and a set of effective control system are the two issues need to address.In this paper,we studied the structure of the lower limb exoskeleton and EEG control system and the main research contents are as follows:Firstly,the physiological structure of human body and gait trajectory are analyzed to determine the joint angle,the length of leg structure and the driving mode of the motor.The whole structure model of lower limb exoskeleton and a kind of plate bending configuration are designed.The design of the adjusting device for the waist and legs and the joints of lower limbs are carried out in detail.The finite element simulation is performed to analyze the stress state of the lower limb exoskeleton model.Through the analysis of dynamics and kinematics,as well as the virtual simulation of exoskeleton,the exoskeleton structure is verified and the foundation of the prototype is provided.The analysis of EEG signal processing is be done.By analyzing the generation mechanism and characteristics of EEG signal,we choose the signal acquisition equipment EPOC+.The method of wavelet threshold de-noising is designed for the preprocessing of EEG signal;the wavelet packet method is used to decompose the EEG signal;classification of EEG signals using support vector machine;Recognition training for the design of EEG signals,it can improve the recognition accuracy of the signal through continuous learning.Study on the control system of the lower limb exoskeleton.The overall scheme of the exoskeleton system is designed,and the control methods of EEG signal control,pre programmed control,feedback control and neural network control are determined.The control strategy of human-computer interaction is designed,which is based on the combination of active and passive control strategy,exoskeleton control strategy and neural network control strategy.It designs the hardware control system of the lower limb exoskeleton and determines the hardware of the EEG equipment,control equipment,sensor and the key circuit and so on.Finally,the combination of the PC and the slave computer is realized by software programming.Finally,on the basis of the exoskeleton prototype,the control of the exoskeleton of the lower limbs is designed.It makes the EEG signal classification and recognition test to determine the level of recognition accuracy and the line.The exoskeleton performance test and trajectory tracking test are carried out to determine the rationality of the basic motion parameters.The experiment of passive test and passive combination of exoskeleton was performed.The feasibility of the control system is verified through the exoskeleton trajectory parameters.