Design of motion-assisted training control system based on nonlinear mechanics

Abstract

Abstract In order to improve the level of intelligent rehabilitation training equipment and assist patients to effectively restore the walking function, a motion-assisted training control system based on nonlinear mechanics is proposed. According to the robot direction of lower limb rehabilitation equipment studied in this article, a stable, safe, and reliable mechanical structure system is designed to optimize the structure, and the anti-overturning stability of the robot static system and dynamic system is analyzed. Then, through the human-computer interaction system, the robot automatically realizes the automatic forward and backward, left and right turn, anti-overspeed, anti-fall, and other functions. A joint simulation platform of rehabilitation robot speed control was built using MATLAB and ADAMS to verify the effectiveness of the designed control algorithm. The results showed that users slowly increased their training speed from 1 to 5, walking at approximately 0.3 m/s. The user adapts slowly during the use process, and through training, and the walking speed is improved slowly. Therefore, the lower limb rehabilitation equipment training robot is highly applicable, convenient for operation, with good robot control performance, high stability, and good mobility ability.