Research And Simulation On Control System Of Exoskeleton Upper-limb Rehabilitation Robot

The rehabilitation robot of exoskeleton upper-limb is an important research area ofrehabilitation robot, which has been taken seriously soon by the rehabilitation researchinstitutes. In our country, there’re the number of people with disabilities of upper-limbdysfunction,but very few people can be had rehabilitation treatment in time, the research anddevelopment on upper-limb rehabilitation system has a very important significance fordeveloping China’s Rehabilitation Medical Services. This essay focuses on the control systemdesign the rehabilitation robot of exoskeleton upper limb and its simulation.The domestic and foreign development in the rehabilitation robot of exoskeleton upperlimb are introduced status in this essay, the existing control technology are analyzed and itsdevelopment prospect are described as well. Base on the analysis of the methods for upperlimb rehabilitation training, the overall control strategy of the rehabilitation robot ofexoskeleton upper limb is determined, which includes the selection of servo control system，and selects the relational hardware like servo controller and the determination of the softwarecontrol strategy of host-computer.Kinematics and dynamics analysis of the rehabilitation robot of exoskeleton upper limbare made with the mathematical model and simulation to get its kinematic and dynamic data,analyzing the robot work space and typical trajectory of the patients in the rehabilitationprocess on this basis.A PC-based relay logic control system is designed to realize the logic control of thepower supply system of the rehabilitation robot of exoskeleton upper limb, meanwhileinfrared security systems and PC relay security systems are provided. After finishing thedesign of the circuit, a logic simulation program is build by the Statelow toolbox in theSimulink，and observes the rationality of the designed circuit in the simulation environmentto choose the electrical components.In the Microsoft Visual C++6.0software environment, the design of software systemof the rehabilitation robot of upper limb has been finished, which can achieve the single joint/multi-joint control, trajectory teaching control, active control and powerful databasemanagement function.