Design and Control of Lower Limbs Exoskeletons Gait Training System Driven by Pneumatic Actuators

• Main Authors: Chen, Rui-Peng, 陳瑞鵬
• Other Authors: Lee, Liang-Wang
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/43bbn3

碩士 === 龍華科技大學 === 機械工程系碩士班 === 105 === This thesis mainly focuses on application of pneumatic transmission technology to develop cheap, safe and flexible pneumatic lower limb exoskeletons gait training system, then improve the disadvantages of complexity about structure of motor-driven lower limb gait training system and lack of flexibility. We divide the thesis in to three part following: Mechanism design part: We consider the advantages of application of pneumatic technology in rehabilitation medicine on the merits and combine drive with damper together and then propose a complete design of pneumatic lower limb exoskeletons gait training system. Kinematic analysis part: In order to retrieve the parameter number, we use lower limb gait 3D motion to capture system to retrieve the parameter number. Next, we apply D-H the coordinate transformation method on reverse motion equations of lower extremity exoskeleton. Finally, MATLAB is applied to finish lower extremity exoskeleton work space and inverse kinematic analysis. Controller design part: To meet the needs of different proportion of body weight and weight loss, this paper combine Type II fuzzy system with sliding mode control system to design proportional pressure valve Type II fuzzy slide-mode controller, then complete dynamic constant weight control weight loss support system. On the other hand, we combine the advantage of fuzzy sliding control of Type II with the economic benefits of PWM to propose “pulse width modulation Type II fuzzy sliding controller" (Type II Fuzzy Sliding PWM controller) for solenoid valve driven by limb exoskeleton. It is driven directly by PWM control signal directly-driven parallel double solenoid valve. This method can improve the nonlinear phenomenon caused by large differential responsibility and the area in which the solenoid switch does not respond. Thus, it can achieve gait tracking control of pneumatic lower extremity exoskeleton. This thesis uses the software to implement PWM, then control solenoid valve opening and closing time without extra hardware implementation. It makes the system not only have economic benefits but also meet the high accuracy requirements. In the section of control, we complete weight reduction and the design of control system of lower extremity exoskeleton in the LabVIEW development environment supporting system. In the section of production and experiment, we create the prototype on the basis of the design to carry on the functional verification and experiment. The results show that the pneumatic type lower limb exoskeletons gait training system and control system can meet the design requirements; if Type II fuzzy sliding PWM controller of fuzzy rules are properly designed, it can effectively decouple lower extremity exoskeleton. Moreover, compared to the PID controller, it has better control performance.