Research On Force Assistant Control Of 5Dof Rehabilitation Robot For Upper Limbs

The technology of robotics has gradually flooded in every corner of our life and its application in the medical field is becoming one of hot native and abroad subject in recent years. After learning the basic theory of rehabilitation training for hemiplegia upper-limb and studying the mechanical structural feature of the rehabilitation robot, this subject analyses the kinematics and static dynamic of the robot, build the force control module and realize the initiative force aided rehabilitation training for the upper-limb hemiplegia patient. The purpose of this subject enforces the motion will of the patient, raise the patients'motion positivity and confidence.This subject analyses the mechanical structural feature, then build the kinematics module and simulate to validate the kinetic module. Using geometry method to analyses the inverse kinetic module and utilizing differential transformation method to get the Jacobin matrix, which indicates the differential relation between the robot terminal velocity and every joint's angular velocity. This subject also establishes the static dynamic module, on which the force control base.This subject then establishes the torque sensor module. It fixes the magnitude and direction of the force exerted on the terminal end of the robot according every joint's angle and angular velocity that was collected real-time. After acquiring the inverse Jacobin matrix, the subject deduce the force control module, which enable the robot terminal end to move following the force by driving every joint at certain angular velocity.According the force control module, the programme is finished. The software can realize not only the single joint force assist rehabilitation training of the shoulder abduction/adduction, shoulder flexion/extension, elbow flexion/extension and wrist flexion/extension, but also the multi joint force assist rehabilitation training.The experiment is carried out by healthy people finally. The motion parameter recorded in single and multi joint training experiment proves that the system works well, the robot keeps moving following the force at the terminal end. It also prove the validity of the force assisted control module and the force assisted training.