Servocontrol Of Joint Driven By Two Pneumatic Muscles In Opposing Pair Configuration For Rehabilitation Robot

Disease such as stroke often results in patients with hemiplegia. As upper limb rehabilitation robot can provide patients with effective rehabilitation exercise for recovery, the demand for upper limb rehabilitation robot is increasing nowadays. However, the existing upper limb rehabilitation robots are not compliant and secure enough, or can only provide simple rehabilitation exercises. Therefore, this dissertation proposes an exoskeleton wearable upper limb rehabilitation robot with pneumatic muscle driven, and in which each joint (a single degree of rehabilitation arm) is managed by two pneumatic muscles in antagonistic pairs. The issues that the rehabilitation exercises are not compliant, secure and rich enough are solved. The major works are organized as follows:The structure of pneumatic muscle and it's static and dynamic characteristics are analyzed. The reciprocating driving characteristics of pneumatic muscle are also studied. The tensioning device and friction between wire rope and flexible pipe of the rehabilitation arm system are analyzed. The driving characteristics and properties of the rehabilitation robot of single-ended driving and double-side are studied.Based on the symptoms in different phases of hemiplegic patients in rehabilitation, the control modes of position-position of the arm, location-torque and torque-torque are proposed. The first two are mainly used in the patient-passive-robot-active rehabilitation exercises (patient passive motion or passive motion for short). The torque-torque control mode is primarily used in patient-active-robot-passive motion (patient active motion or active motion for short) of the rehabilitation robot.For the limitations such as slow response and big overshoot of classic PID controller, neural PID controllers are applied to the control of rehabilitation arm and the control performances are increased, which are benefitted by the advantages of neural PID such as online regulating of its parameters. For classic PID and neural PID, the characteristics of responding quickly and overshoot of small control effect could not be achieved at the same time in control of rehabilitation arm. Fuzzy controllers are applied to position and torque control of rehabilitation arm, which improve the speed of response and almost eliminate overshoot. Furthermore, fuzzy neural network controller achieves more quick response in position control of rehabilitation arm. In tracking control of the rehabilitation arm, the overshoots of all the above controllers are greate when the direction of the rehabilitation arm is changing, and even with serious vibration. To address this problem, a new controller combines neural PID and feedforward control is proposed and the overshoot decreases to a acceptable value without vibration in tracking control of the rehabilitation arm.The control software of upper limb rehabilitation robot is developed, which enables the active and passive motion control of the rehabilitation robot. At the same time, the patient's rehabilitation information and data are recorded. In addition, speaker independent speech recognition technology is adopted which enables speech control of the rehabilitation robot.