Research And Development Of An Upper Limb Rehabilitation Robot System

As an important branch of medical robot, the rehabilitation training robot for stroke hemiplegic patients is a hot research topic both at home and abroad. Based on motor relearning theory, it combines many technology fields such as medicine, biology, mechanics, information&computer science, etc. This thesis makes researches on system design, kinematic analysis, motion control system, prototype and experiment, and lies the foundation for further theoretical research and provides technical supportings.Taking safety, bionics, exoskeleton material, training mission and installation use into consideration, the design rules for upper limb rehabilitation robot are proposed on basis of human upper limb anatomy and motion rehabilitation theory. Under the guidance of rules, a novel3DOF exoskeletal upper limb rehabilitation robot for patients in light and movement reliable is developed. The mechanical structure, motion control system and control strategies of the rehabilitation system are also introduced.Kinematic model is an important part in designing the rehabilitation robot system. So the robot kinematic model is established and forward kinematics, inverse kinematics analysis are done by D-H mothod. Matlab and ADAMS software are used to analyse the displacement, velocity and acceleration separately from the theoretical calculations and simulation aspects of three-dimensional model. Then, the Jacobian matrix is got by differential transform method.The motion control system of rehabilitation robot is introduced from hardware design and software development. According to different modes and needs,10applied programs based on VC++6.0are developed. With the programs, single-joint and multi-joints training in position and speed control are realized.In the end, a prototype of upper limb rehabilitation robot is developed. The mechanical body, AC servo system, host computer control system are introduced. Experiment research on the position and velocity control is also taken. Experimental results show that the rehabilitation robot system is feasible.