Intelligent Control of Rotation Mechanism Angle of Ankle Rehabilitation Training Equipment
In order to improve the effect of ankle rehabilitation training,an intelligent angle control method for the rotation mechanism of training equipment is designed.Based on rehabilitation medicine and ergonomics,the rotation mechanism of ankle rehabilitation training equipment is designed to help the ankle to complete the movement of adduction,abduction,toe flexion and dorsiflexion.According to the principle of impedance control,the angle controller of rotating mechanism is designed.The de-viation between the expected human-machine interaction force and the actual human-machine interaction force is processed by the impedance control ring,and the angle compensation of rotating mechanism is obtained.It is input into the angle control ring to achieve compliant control between the rotating mechanism and the patient's ankle.The adaptive weight strategy was introduced to improve the standard seagull algorithm,and the angle control effect of rotating mechanism was improved by optimizing the controller parameters.Experimental results show that the method can accurately control the rotation angle in different rehabilita-tion training ranges.When the driving speed of motor is different,this method can control the angle of rotation mechanism with high precision.After the application of this method,in the rehabilitation training of dorsiflexion,varus and abduction,the mo-tion track of ankle joint rehabilitation training is very consistent and smooth,and there is no shaking phenomenon,indicating that this method has better flexibility of angle control and better rehabilitation training effect.
NETL
NSTL
万方数据
维普
