Research On Control Of The Arm Rehabilitation Robot System

With the development of the robot technology, the research and application of rehabilitation robots has become a focus in the world. Abroad researchers of the developed countries achieve a high level on the aspect of the upper limbs rehabilitation under the help of robot technology.However,we are later in our country about the research of upper limbs rehabilitation robotic system and attain little progress. This paper generats and researches on the robot technology that related to the upper limbs rehabilitation, realizes the compliant motion control for upper limbs rehabilitation used the force-based impedance theory, and designes the robotic control system by applying two-stage CPU control system structure.This paper studied on the arm rehabilitation robot system is practical.The robot system adopts master-slave control structure apply to rehabilitation about the patient who has a handicapped arm.The master manipulator could control the position and speed of the slave manipulator, so the patient could train his handicapped arm by himself. The two-stage control system structure of the robot is used by the arm rehabilitation robot system.The first stage is personal computer,which realizes the function of control model choice and control parameters setting with the LabVIEW software designing Human-computer interface of the robot system.At the same time it displays the robotic track on the PC screen.The TMS320F2407A with high performance is used in second stage CPU, which accomplishes auto-teaching model, master-slave control model, strength training model and the tracking control model with the software and hardware designing of the control system.The arm rehabilitation robotic system realizes compliant motion with force-based impedance theory.With MATLAB/Simulink system design tools the impedance model is established and is simulated for the system tracking performance aboat the given position and force.The author Experimentes based on the dSPACE real-time simulation platform for robotic compliant motion and analyzes the different damp and stiff parameters effected on the robotic system in the control aspect, and experimented the control system with the DSP controller. The results show that the auto-teaching model was successful and it achieves design of the arm rehabilitation robot system.