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The Research of Lower Extremity Walking Rehabilitation Training Robot’s Control System and Control Strategy

Author: ChenJian
Tutor: HanJianHai
School: Henan University of Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: The lower extremities walking rehabilitation robot Path trajectory Control system Control strategy
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 179
Quote: 0
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Abstract


In today's society , the body's nerve damage due to stroke , spinal injury , accident injuries , and triggering human movement dysfunction has become a common disease . Currently , gait training is one of the effective methods of rehabilitation of lower limb hemiplegia patients commonly used such rehabilitation is a special effect on stroke and incomplete spinal injury , the effect of rehabilitation has been many domestic and foreign medical experts generally recognized. The subject is walking to the lower limbs rehabilitation training robot as research background, focus on the the rehabilitation robot control system and the control strategy . First, based on the lower limb rehabilitation robot research situation analysis the Difficulties and focus of the research . The combination of rehabilitation medicine theory , lower limb walking rehabilitation robot overall design , robot mechanical structure design based on the lower limb walking a rehabilitation robot control system design . Secondly, the trajectory of the booster leg movement path planning and analysis of the coordination between the man-machine systems and medical treadmill movement ; design a robot initiative \system control strategy , focusing on the design of the fuzzy control strategy adopted in the initiative \Then complete the writing and debugging of the the lower machine microprocessor control program and the host computer LabVIEW program . By experimental validation of the proposed control algorithm and optimization . Lower limb walking rehabilitation robot is a combination of robotics and rehabilitation medicine theory , it can effectively reduce the intensity of the work of the medical staff , and improve the efficiency of the patients gait rehabilitation training . Preliminary validation of lower extremity to walking rehabilitation training robot control strategies and programs is feasible and effective through a large number of experiments . Research projects to explore new avenues for the future integration of machine electrical system and the control technology of the man-machine integration system , its content has a larger theoretical and practical application value .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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