Research On Multi-mode Rope Driven Lower Limb Rehabilitation Robot And Remote Bilateral Control Strategy

Based on China’s actual national conditions,in order to serve the national strategy of actively coping with population aging,In this paper,the lower limb rehabilitation robot is combined with bilateral control strategy.To achieve the goal of remote online rehabilitation training,real-time monitoring of treatment and timely adjustment of rehabilitation programs according to different feedbacks,to help doctors improve rehabilitation efficiency and assist patients to complete training tasks,and greatly improve the effect of lower limb rehabilitation training.It has far-reaching significance and great application value for the development of rope driven lower limb rehabilitation robot and remote bilateral control strategy.According to the characteristics of human lower limb flexion and extension-gait,adduction and abduction,internal rotation and external rotation,and the performance requirements of the robot in therapy and rehabilitation,a new configuration of rope driven lower limb rehabilitation robot was proposed.It can integrate a variety of rehabilitation training modes into it,and also meet the needs of doctors for operational mechanisms during training.This paper also carries out detailed design and simulation modeling for the overall structure,main components and assembly arrangement.Based on the rehabilitation requirements and the above configuration,the overall scheme of the robot bilateral control system is drawn up,and its working principle is analyzed.The kinematics analysis of lower extremity flexion and extension-gait motion was carried out,and FAB was used to collect its motion trajectory and modify it through the existing database to complete trajectory planning.Based on this,the motion and dynamics of the patient end of the robot are analyzed,and the variation rules and expressions of the parameters of the end are obtained.The D-H method was used to implement the analysis on the physician end,and the conclusion was drawn that the work space of the institution could meet the movement demand of rehabilitation training.The mechanical relation between the two ends of the mechanism is solved and the expression of the force relation between the two ends is obtained.Introduce performance metrics of bilateral control strategy.The stability criteria based on passivity and absolute stability are discussed.The configuration and performance limitations of bilateral PD method are analyzed,Anderson method and unilateral PD method are proposed,and their performance is discussed in detail.Based on this,the improved unilateral PD method based on Anderson method is proposed,and the advantages and disadvantages of the improved method are analyzed in detail and compared with unilateral PD method,and the conclusion is that the improved method is better.SimMechanics module is used to verify the correctness and effectiveness of the system structure principle and mechanism motion and dynamics model.Set up the experimental prototype,and complete the debugging,testing and troubleshooting of the whole machine after the selection and layout of the main parts of the hardware.Based on this prototype,bilateral control position tracking performance experiment and muscle strength rehabilitation effect evaluation experiment were carried out.The feasibility of the robot configuration was verified,and the position tracking performance of the dual-end mechanism of the system under the improved unilateral PD method could meet the rehabilitation requirements and complete the training task well,which confirmed the feasibility of the evaluation of the rehabilitation effect of the affected limb by analyzing the rope tension.