A Control Method of Wheeled Rehabilitation Robot Independent of Rehabilitation Patient's Mass

Abstract

The invention discloses a control method of a wheeled rehabilitation robot independent of the quality of the rehabilitation person. According to the constant offset of the center of gravity during the training process of the rehabilitation person, the offset characteristics independent of the quality characteristics of the rehabilitation person are obtained; according to the offset characteristics, Using the path tracking error and speed tracking error, design a controller independent of the quality characteristics of the rehabilitation person; realize the design of the main controller based on the single-chip microcomputer, and provide the output signal to the motor drive unit, so that the robot can track the reference trajectory signal. The invention effectively solves the problem that the center of gravity and the geometric center of the robot do not coincide, and avoids the self-adaptive parameters to estimate the quality of the rehabilitation person, simplifies the design process of the controller, and can realize the accurate training path specified by the doctor for the trainers with different weights. track.

Description

Technical field: [0001] The invention relates to the field of automatic control of wheeled rehabilitation robots, in particular to a control method of wheeled rehabilitation robots independent of the quality of the rehabilitation person. Background technique: [0002] With the arrival of an aging society, the number of patients with walking dysfunction is increasing year by year due to reasons such as diseases and traffic accidents. However, the lack of medical resources and high medical expenses in our country make many patients miss the best recovery period, which leads to the gradual loss of walking function of patients and brings a heavy burden to the family and society. Therefore, it is of great significance to develop rehabilitation robots to train patients' walking function in a timely and effective manner. [0003] The rehabilitation robot performs a comprehensive exercise on the leg muscles of the rehabilitation patient according to the training path specified by t...

AI Technical Summary

Problems solved by technology

When the robot is moving, it is very difficult to determine some parameters of the system, especially the influence of the unknown mass of the rehabilitation patient on the robot, which will not only reduce the control accuracy, but also cause the center of gravity and the geometric center of the robot to not coincide, which often makes the center of gravity of the robot deviate. move to fixed position

If we do not solve the problem of constant deviation of the center of gravity of the robot and the quality of the rehabilitation patient, the robot will inevitably deviate from the training path specified by the doctor, which will not only affect the training effect, but also make the system unstable when hitting obstacles, threatening rehabilitation. patient safety

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