Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Abstract

A double-end lower limb rehabilitation robot is introduced in the paper, which can realize the rehabilitation training of the abduction and abduction, internal rotation and external rotation of human lower limb. The kinematics and dynamics of the robot are analyzed. Based on the motion trajectory planning of the lower limb rehabilitation robot, the motion state and dynamic state of the cable are analyzed. In order to realize the good remote cooperative control between the rehabilitation physician terminal and the patient rehabilitation terminal, the bilateral PD control method and the patient terminal force feedback control method based on the absolute stability theory are analyzed by using the dual-port network model. The simulation results show that the performance of the patient terminal force feedback control method is excellent when the force on the moving platform and the external interference force are changed suddenly. The mapping model of double-ended mechanism is established in the SimMechanics. The simulation results show that the mapping model of double-ended mechanism has a good position tracking ability and their workspaces can meet the requirements of trajectory mapping. The remote collaborative rehabilitation training experiment was done on the established experimental platform. The experimental result shows that the experiment system has a good tracking performance under the guidance of the patient terminal force feedback control method. The feasibility and operability of the remote rehabilitation cooperation technology are verified.