Development of a control and unit positioning system for a mechatronic rehabilitation complex

Abstract

A high pace of modern medical technologies development in the world requires the introduction of intelligent robotic equipment into Russian practice, which allows us to take the healthcare sector to a new level. Due to the progression of diseases of the patients’ musculoskeletal system and an increase in spinal injuries, rehabilitation equipment is becoming increasingly important. In addition, the development of domestic robotic rehabilitation complexes that match or exceed the functionality of foreign analogues is currently required. A fairly new area of modern medicine is a clinical analysis of biomechanical parameters and study of gait pathology using biomechanical models. Currently, to build parametric models, motion capture methods are being developed that make it possible to reconstruct and visualize the movement of human limbs, as well as to estimate various dynamic quantities, for example, motor forces or ground reaction force. The results obtained are used in rehabilitation complexes, video games, sports simulators, etc., where input data are user parameters recorded in real time. The results obtained allow us to conclude that it is necessary to further improve the characteristics of the rehabilitation complex by making changes to the mechanical design of the complex, as well as adjusting the mathematical model of the control system with additional calculations and modeling of the system structure. The developed experimental model of a mechatronic rehabilitation complex is based on the principles of subordinate regulation by actuators using PD regulators. And the desired coordinates of the movement of a person’s leg, obtained using a motion capture complex, are used as a driving signal for the control system.