基于气动比例技术的下肢康复训练外骨骼机构控制

Exoskeleton Control for Lower Limb Rehabilitation Training Based on Pneumatic Proportion Technology

目前,下肢步态康复训练外骨骼机构主要是由电机驱动,造成系统刚性大、柔性差,满足不了人体康复训练安全性和舒适性的要求。结合气压驱动在康复医学上的优点以及气体的可压缩性、柔顺性和安全性等特点,研究了一种结构简单,利用气动比例技术驱动的可穿戴外骨骼机构。依据三维设计技术和仿真分析,建立数学模型。采用PLC和气动比例方向阀实现气动位置伺服控制。实验表明:该外骨骼机构具有运动轨迹连续、控制效果好和安全性强等特点。

Currently the lower limb gait rehabilitation exoskeleton mainly is driven by a motor, with a strong rigidity and a bad flexibility, which can＇t satisfy requirements of rehabilitation training safety and comfort. Taking into account the pneumatic drive advantages in the rehabilitation medicine and the gas features of compressibility, flexibility and security, we study a simple and wearable exoskeleton with the pneumatic proportion technology. A Mathematical model is established according to the three-dimension design technology and simulation analysis. PLC and proportional directional valves are used to achieve the pneumatic position servo control. The experimental results show that it has a continuous trajectory, good control effect and safety characteristics.