Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot

doi:10.16182/j.issn1004731x.joss.17-0203

Abstract

Abstract: In the course of active exercise training for patients with lower limb rehabilitation robots, a treadmill speed coordinated control method based on acceleration suppression is proposed to prevent secondary damage to patients caused by muscle spasms. The mathematical model of treadmill is established by means of system identification. Based on the H₂ optimal design method and the continuous time system switching theory, the treadmill speed PI controller with acceleration suppression is designed. The simulation results show that the controller can not only reduce the acceleration of the treadmill, but also keep the speed of the treadmill track the expected walking speed of the patient, and realize the coordinated control of the speed between the lower limb and the treadmill.

Key words: lower extremity rehabilitation training robot, H₂ optimization, system switching, acceleration suppression, speed coordinated control

CLC Number:

TH789

Li Feng, Wu Zhizheng, Hou Wei, Qin Xiaofei. Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot[J]. Journal of System Simulation, 2019, 31(6): 1111-1122.

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