Motion Control of Training Robot with Enhanced Defecation Control Ability Based on Active and Passive

With the significant increase of social aging trend, the defecation and control ability of the elderly has become an important issue in the field of elderly rehabilitation. This paper designs a training robot system based on active and passive defecation ability enhancement, which aims to deal with the problem of defecation ability obstacle of the elderly. The system includes upper computer, lower computer, sensor and robot execution unit. The patient's motion information is obtained through the perception system to achieve active and passive motion training control. The sports training module includes sit ups, hip joint movement. The position based control strategy is adopted to achieve stable passive motion through PID controller and predefined trajectory. In the aspect of assist training control, motion trend recognition and fuzzy PID algorithm are introduced to achieve safe and effective assist rehabilitation. Through experiments to verify the effectiveness of the system, it provides a comprehensive and flexible rehabilitation training solution for the elderly to enhance their defecation control ability.