Research On The Arm Rehabilitative Robot System

The rehabilitation robots are a new kind of robots appeared recently. The major function of rehabilitation robots is to help patient complete rehabilitation training of all athletic functions. According to the principle of work, rehabilitation robots are a human-machine cooperation robot. The rehabilitation robots must be suitable for movement characteristics of people, and meet movement demand of people. A type of arm rehabilitation robots is designed in this dissertation. The robot is used to drive arm of patients move through manipulator. And it can be simulated the arm movements rules of daily life. The athletic training, muscles exercises and neurological recovery training of each joint arm are realized through computer control.The developing situation at home and abroad of arm rehabilitation robots is deeply analyzed in this dissertation. And the method and process of rehabilitation training in Rehabilitation Medicine are discussed. The demand of rehabilitation robots design is summarized. On the basic of that and the analyzed conclusion of working space, a new type of arm rehabilitation robots is designed. The robots have 5 DOF, which is in keeping with the movement of reality. Based on the arm movement range of Chinese adults, the physical dimension of rehabilitation robots is defined and the definite allowance is retained to satisfy the patient with different heights. According to the characteristics of cooperation between robots and human, path control and impedance control are both used as control mode.The kinematics analysis of arm and rehabilitation robots is analyzed separately by using D-H method. The forward kinematics equation and inverse kinematics equation of arm and rehabilitation robot are obtained. The result of forward and inverse kinematics analysis is tested by using Matlab/SimMechanics. The correctness of kinematics analysis is validated through simulation results. At the same time it is also validated that the rehabilitation robot designed in this dissertation meet the working space requirements of arm rehabilitation. The motion planning and simulation analysis of arm rehabilitation man-machine system are also done in this dissertation.The dynamic properties of arm and robots are studied. The mechanical models of arm and robots are established. The generalized force is solved by using principle of virtual work. The dynamical equation is established with the Lagrange methods. The dynamical modeling of arm and robots is also established through mechanism modeling method. The "8" form path and cycle desired path of the surface motion with rehabilitation training are analyzed separately through simulation. The catastrophe and vast scale increment of robots driving force are not caused by the inertia of arm through the simulation results.The compliance control strategy of robots is studied. The athletic training mode and arm muscle strength training mode of arm rehabilitation robots are researched. Motion training mode is studied by taking the impedance control mode of position control in external loop. Arm muscle strength mode is studied by taking the impedance control mode of force control in external loop. Based on the MATLAB/Simulink, the simulation model is established. The motion path control of robot's end and force control are separately realized by the designed controller through the simulation results. And it is of definite compliance. The different compliance characteristics are obtained by adjusting the parameters of impedance controller.The prototype of 2-DOF rehabilitation robots is developed. The experimental system of rehabilitation robots is built up based on dSPACE. And the experiments of path control, stiffness control and impedance control are done. The effects between impedance control parameters and control effect are also studied. The correctness of theoretical analysis and feasibility of rehabilitation robots designed in this dissertation are verified through the experimental results.