Intellectual Control Of Upper Limbs Rehabilitant Robot Based On Fuzzy Neural Network

Rehabilitation robotic technology is a new motor nerve rehabilitation technology which was developed in recent years. Using the rehabilitation robots on patients with rehabilitation training can improve the relevance and scientific of hemiplegia rehabilitation, can formulate better rehabilitation programs for patients, and further improve the efficiency of rehabilitation. However, the rehabilitation robot is a strong nonlinear and coupling system, and sometimes affected by limb spasm during the process of rehabilitation training. Therefore, it has great research value to design a control algorithm to solve these problems in rehabilitation robot system.According to the object of study,5-DOF hemiplegia upper limbs rehabilitation robot was analyzed with the method of control over the result, and propose the idea of using fuzzy neural network control in upper limb rehabilitation robot. A fuzzy neural network controller is designed for rehabilitation robotic system, and the system model includes the mechanical arm gravity torque and spasm disturbance, and verifies the effectiveness of control method by comparing the effect with traditional PID control.Establish a3D virtual reality environment of5-DOF hemiplegia upper limbs rehabilitation robot by using virtual reality technology and apply it to the simulation process of rehabilitation training. Verify the feasibility of3D virtual reality model through the simulation process.Finally, combined with MATLAB/Simulink powerful computation simulation function, design and construct the simulation system of5-DOF hemiplegia upper limbs rehabilitation robot. Consider of the effect of spasm disturbance, analysis the result of PID control and fuzzy neural network control separately, the simulation results prove that the method of fuzzy neural network control improve the stability of rehabilitation robots system.