Swing control of knee joint rehabilitation training mechanical leg

ZHOU Yi-ming, HAN Ya-li, WU Feng

(School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167, China)

Abstract: Aiming at the swing training requirement of knee rehabilitation exoskeleton, the human-computer interaction control strategy of external bone mechanical legs was studied and the control strategy of existing lower extremity rehabilitation exoskeleton was summarized, an equivalent inertia compensation control method based on admittance principle was proposed. Firstly, according to the periodic repeatability of human knee rehabilitation training, an adaptive frequency oscillator was introduced in the equivalent inertia compensation control method, and stable frequency and phase motion mode information in the wearer's swing leg motion was obtained. Then, the wearer's lower limb joint torque was estimated to generate a same period of assist torque, and the muscle torque of the wearer's lower limbs were tended to be synchronized in phase. Finally, compensation control of knee exoskeleton mechanical legs was studied. Experimental on the motion control of the knee exoskeleton mechanical leg first slow-faster-re-slowing was studied.The results indicate that mechanical exoskeleton leg rehabilitation exercise can simulate the desired mode, and has a good kick their effect.

Key words: knee rehabilitation exoskeleton; admittance model; adaptive frequency oscillator; swing control