Research On The Elbow Rehabilitation Device

With the rapid development of rehabilitation robots, more and more researchers are paying attention to this field. Key technologies about elbow rehabilitation device have been discussed detailedly, including the mechanical design, pneumatic servo control and so on, which will contribute to the realization of whole rehabilitation robot.According to the modern rehabilitation theory and rehabilitation training method, rehabilitation training makes positive effect in motor function recovery after stroke, which has been the foundation of the system design of elbow rehabilitation device. Then mechanical structure, pneumatic driving system and control system have been discussed detail by detail using modularization method, which have built up the whole elbow rehabilitation device.In order to design the control system effectively, static and dynamic characteristics of the pneumatic muscle both have been analyzed, and experimentized study has been developed. Then we have built up the mathematic model of the whole system by the method of experimental analysis. According to the dynamic characteristic, segmentation-based PID control algorithm have been developed, which have also been proved to be effect.In the end, we have developed the experimental prototype, and done some experimental test under normal human body, including active training, passive training and disturbance rejection training. Experimental data has been analyzed to make sure that the elbow rehabilitation device will make positive contributiton to stroke patients.