Design And Research Of Electric And Control System For A Hand Rehabilitation Robot

The prevalence rate of stroke has become especially high in modern society, and it is the major cause of human hand disfunctions. The research of human hand function rehabilitation and treatment therapy after stroke has already been a hot research topic in modern rehabilitation medicine and rehabilitation engineering. Nowadays, the prevalent treatment therapy for the rehabilitation of hemiplegic motor disfunctions of human hand after stroke is repairing or rebuilding the damaged nerve related to hand motor function, which can be achieved through intense hand exercise and repeatedly motor learning. Also, the robot-assisted rehabilitation therapy is widely used among the numerous means and rehabilitation methods, as a new and effective kind of robot-assisted rehabilitation equipment, hand rehabilitation robot can be used to assist the hand joints to stretch and bent during rehabilitation training process.In this paper, a novel electric and control system for a hand rehabilitation robot are presented, which include the design of real-time mission processing based on FPGA, multiple DC motor drives, data acquisition, human-computer interaction and power management subordinate systems. The whole system is highly integrated and minimized, which can be used conveniently.First of all, this thesis analyzes the current research status of hand function rehabilitation robot both at home and abroad, and points out the shortcomings and deficiencies existing in the electrical and control system. Then a general overview of the hand function rehabilitation robot mechanical and electrical control system is given, and a novel performance-based progressive assistance control strategy is represented based on the analysis of human hand biological motion characteristics and medical rehabilitation.Secondly, the design and implementation process of the rehabilitation robot control system hardware components is described in detail, including the NiosⅡsoft-core process system, multiple DC motor drives based on PWM, sensor data collector, human-computer interaction and power management subsystems.Thirdly, the design process of a hand rehabilitation robot robust PID control method based on disturbance observer is represented in detail. The mathematical models of drive motor and mechanical load are established, then a typical PID control method for hand rehabilitation robot is discussed, in order to overcome the drawbacks of the typical PID control method, a hand rehabilitation robot robust PID control method based on disturbance observer which can suppress the disturbance from hand during runtime is given, the MATLAB simulation results are also presented. The simulation results demonstrate the effectiveness of the controller and control algorithm.Finally, this thesis gives performance testing results of the completed hand rehabilitation robot control system. These experiments results show the feasibility and reliability of each module. The electric and control performance data obtained from these experiments are the basis of performance evaluation of hand rehabilitation robot, it is also the important reference for future improvement and clinical practice.