A Treadmill Speed Adaptive Control Method for Lower Limb Rehabilitation Robot

摘要

Robot-assisted rehabilitation training on a treadmill is a popular research direction in recent years. And it will replace the artificial rehabilitation training to become a major rehabilitation training method for patients with lower limb action impairments. However, in the existing rehabilitation system, treadmill run in the constant speed. It has to change the speed manually rather than adjust according to the patients' active consciousness. In the paper, we proposed a treadmill speed adaption control method for Lower Limb Rehabilitation Robot. A pull pressure sensor is used to detect human's movement trends. The data are calculated through non-linear gain and then sent to the speed controller in the treadmill according to the characteristics that the hip of human body is fixed on the robot in the walking direction of the sagittal plane. Based on this principle, we designed a force measurement structure and verified the control method by experiment. The result shows that the control method can satisfy adaptive control of the treadmill speed.