Research On Modeling For Bionic Mechanism Of Upper Limb Rehabilitation Robots

The data from National Bureau of Statistics of China shows that, up to 2006, there are 1.2 billion old persons in China, which constitute nearly 8% of the country's population. And it is very common for the old people that their limbs function is declining. In addition, the hypofunction of upper limbs caused by diseases and trauma is increasing. The rehabilitation with simple medical equipment can not be satisfied. Therefore, it is essential for social improvement to develop effective rehabilitation instruments to improve the quality of life.In the dissertation, the human geometric modeling method is firstly discussed. To meet the requirement of ergonomic simulation, and for parameterized the muscle force, a musculoskeletal model with the ability of representing both static and dynamic anthropometnc parameters is presented in order to make the model be any man. Based on anatomy knowledge, the algorithm of joint motion constrains is also discussed. For estimating the injuries which bring with the bones and joints, and based on multi-rigid body dynamics and inverse dynamics, an external force and torque model suited for both static and dynamic instances is presented.In order to realize the analysis of muscle force, a muscle force model considered both static and dynamic cases is discussed. On the basis of optimization method to control, constraint equation of muscle and balance constraint equation are set up for static. For dynamic case, according to Lagrange equation and three elements model, and equal constraint equation and unequal constraint equation are get respectively. Through the improvement of constraint equation, the precision of the model is improved. A simulation is used for the purpose of verifying the validity of the biomechanical model presented above.