The Design Of Upper Limb Rehabilitative Robot And The Motion Planning

Stroke and traumatic brain injury tend to cause limb paralysis. Paralyzed patients can not take care of themselves. It not only causes enormous pressure of the patient physically and psychologically, but also imposes a heavy burden to the patient's family and social. Meanwhile, China and many countries are tending to aging society. According to statistics, China's elderly population aged over 60 accounted for more than 10 percent of the country's population. This project aims to develop an upper limb rehabilitation robot, and researches rehabilitative motion planning.This paper researches kinematics analysis and rehabilitative motion planning, which based on the characters of the 5-DOF exoskeleton-type robot for upper limb rehabilitation. Use geometry method to analyses the kinematics and propose balance of the joint movement degree as an evaluation criterion to choose a group solution for rehabilitation within the inverse existing multiple solutions. Offer 3 kinds of motion mode of rehabilitation and research rehabilitative motion planning, which is according to the different motion modes and the interference inspection. Use design software SolidWorks to construct the virtual prototype of the upper limb rehabilitation robot, and then simulate the model. It is the preparations for the simulation of the physical prototype. There are the works of the project:1,The program and structure design of upper limb rehabilitation robots.Access to the reference information and analyze the deficiencies of the existing r ehabilitation robot. Develop upper limb rehabilitation robots program, which simplify the robot design by according to the physiological characteristics of the fingers:first, by reducing the DOF, the second is being got through by inflatable gloves. Develop upper limb rehabilitation robots base on this program, and implement the refined design.2,Analysis of the upper limb rehabilitation robot.Use D-H method of link coordinate system to establishment of a connecting rod upper limb rehabilitation robot coordinate system diagram and to construct the robot's kinematics model while studies positive and inverse problem of robot kinematics. Propose balance of the joint movement degree as an evaluation criterion to choose a group solution for rehabilitation within the inverse existing multiple solutions. Analysis the problem of the robot work space by graphic method. Establish a simplified model of upper limb rehabilitation robot and interference analysis the model. At last discuss the pneumatic technology.3,The rehabilitation motion planning of the upper limb rehabilitation robot.This paper offers 3 kinds of motion mode of rehabilitation. They are autonomous selection mode, interesting motion/functional movement pattern and the promotion of bio-feedback rehabilitation motion mode. Follow the characteristics of rehabilitation robot, research rehabilitative motion planning, which is according to the different motion modes and the interference inspection. it aims to ensure patients safety and complete the rehabilitation motion.4,The movement of upper limb rehabilitation robot.Based on the content 1 to content 3, the paper research the movement simulation of the virtual prototype (three-dimensional modeling in SolidWorks), which is supported by LabVIEW software. It is the preparations for the control of physical prototypes.