Research On Control System And Strategy Based On Exoskeletion Hand Rehabilitaion Robot

Hand is one of the most important organs for humans, it plays anirreplaceable role in human’s daily life. Hand movement dysfunction caused bycentral nerve injury after stroke affects a lot to the patient’s daily life, he or shemay need rehabilitation training to regain hands movement function. With thedevelopment of robotic technology, robot-assisted rehabilitation for bending andextending movements for the patient’s hand has become a research focus fornumerous medical research institutes.After analyzing rehabilitation theory and research current situation, thisthesis merits and drawbacks of various control scheme. Then rehabilitationprinciple and research scheme is introduced and mechanical system of theexoskeleton hand rehabilitation is presented. Thereafter, the hardwareconfiguration and composing is explained particularly, including single-chipsystem design, motor-driver control system design, sensor acquisition systemdesign and Communication-PMU system design.In order to provide patients with portable and user-friendly device, thisthesis is supposed to develop human-machine interaction rehabilitation softwarebased on Android system, including the user interactive layer, data access layer,virtual reality rehabilitation training layer, and individual rehabilitation layer.The software can control robot through Bluetooth and real-time display theparameters of rehabilitation in the chart collected from the control system. Thesoftware also can using virtual reality technology to build scenery which isplaying the piano by a finger to induce patients to take rehabilitation training,this could improve patients’ rehabilitation results.This thesis proposes two basic mode of rehabilitation which is active controlmode and passive control mode base on analyzing kinematics and dynamics ofthe hand rehabilitation exoskeleton. In the control system, the two rehabilitationmodes are auto-switched by force sensors located in tip of the finger. On thisbasis this thesis develop an active induce control system by combining thehuman-machine interaction rehabilitation software to induce patients to enjoy the rehabilitation training to improve their rehabilitation results.The experimental platform for the exoskeleton hand rehabilitation isconstructed to test the performance of the electrical system and human-machineinteraction rehabilitation software. The motion control performance of the entiresystem is also studied to validate the proposed control strategies by combiningthe mechanical system. The results of the experiments verified that the electricalsystem this thesis designed is stable and the control strategy is feasible. And italso proves that exoskeleton hand rehabilitation robot suitable for patients.