Control of a New Cycling Rehabilitation Robot Based on Fuzzy PID

Abstract

For completing the standardized rehabilitation training of the affected limb based on the lower limb rehabilitation training robot system, it is designed that a lower limb rehabilitation robot control system based on fuzzy PID control method to realize stable and accurate control of the rehabilitation training process. First of all, this paper analyzes the ranges of motion of human hip and knees, and a single degree of freedom lower limb rehabilitation training robot system based on the belt transmission principle is designed. Then the fuzzy PID control is analyzed. And the Matlab is used to simulate the passive rehabilitation mode of the lower limb rehabilitation training robot system under different control strategies. The designed rehabilitation training test shows that the control system of the lower limb rehabilitation robot based on the fuzzy PID control method has a small speed overshoot, high control accuracy and smoother operation.