Study On The Measure And Control System For Robot By The Rehabilitative Training With The Forepart Of Stroke

The rehabilitative training robot is an important part on the field of the rehabilitative tools in word. The measure and control system of the rehabilitative training robot is developed based on the need of the research of the forepart of stroke rehabilitative training robot.The stance analysis of the robot is resolved on the base of stance Matrix and Euler angles. The position and the stance of the rehabilitative robot is gained through two steps. First, the discrete data of the rehabilitative training motion can be captured by the three-dimension motion capture system. Then the position and stance control information of the rehabilitative training robot can be gained by the dealing with abnormal data, the curve fitting of least square, the resolving of the trace of rehabilitative motion and pick-up of the rehabilitative motion. The measure and control system of robot for rehabilitative training is developed for the MOTOMAN HP3 Robot and the Software of VC++.It is shown that the trace of the training motion can be stably and integrated repeated by the measure and control system of the rehabilitative robot. The effective rehabilitative training can be done by the rehabilitative robot in place of doctor.