| With the development of robot technology, the robot-assisted therapy applied to therehabilitation of stroke patients has been gradually paid attention by domestic and foreignresearchers.It has become an important research subject and hot spot in the field ofrehabilitation engineering. Therefore,the study has important significance and applicationvalue.In this paper,a set of upper-limb rehabilitation robot system is developed, and itscompliance control strategy has been studied. The concrete researchs are as follows:1. According to the development of upper-limb rehabilitation robot, the overall designof upper-limb rehabilitation robot system is proposed, including mechanical structuredesign,security design, robot control system design,the choice of sensor and motor.Andfour kinds of control mode is proposed, the control strategy of motion control is detemined.2. The control system hardware circuit of the rehabilitation robot system is designed.Including power supply circuit,sensor data acquisition circuit and motor drive circuit.3. The control system software of the rehabilitation robot system is designed.Includingcontrol system software of the lower computer and monitoring system software of theupper computer based on Labview.And control system software of the lower computerincluding signal acquisition module, network communication module and motion controlmodule.4. Virtual reality based training sofrware is designed.A virtual reality based trainingsoftware using OpenGL is designed to assist patients with rehabilitation.5. The compliant control strategy of the upper-limb rehabilitation robot is studied,especially the robot impedance control strategy.The influence of impedance parameters onthe force control performance is analysised by Simulink.It provides the basis for how tochose impedance parameters in different rehabilitation environment.The simulation resultsshow that the impedance controller of the system can achieves good compliance controleffect. |
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