Research On Rehabilitation Training Control Method Based On Virtual Force Feedback

Force feedback and virtual reality technology are two kinds of moderntechnologies which are supplementing each other, and they have been applied tomany areas such as medical treatment, engineering, geography, education and game.As the development matures, they are becoming a growing presence in our daily life.Based on the PHANToM Omni force feedback device developed by AmericanSensAble Company, this paper analyzes its kinematic model and dynamic model,studies the trajectory control method and the force feedback control algorithm, designthe virtual reality scene assisting the hemiplegic rehabilitation, and study thehuman-machine partnership of the upper limb rehabilitation.Firstly, make a detailed analysis of the mechanical structure and thehardware/software environment of the PHANToM Omni force feedback device,design the system scheme of virtual force control. Build the direct kinematics analysisof the force feedback device and linkage model of the human arm respectively basedon the D-H method, while solve the inverse kinematics adopting the geometricmethod and its simulation is done with the QuaRC real-time simulation controlsystem, calculate the work space of the force feedback device, build the dynamicsimulation of the force feedback device and human arm model by ADAMS software.Secondly, build the mathematic model of each joint motor in PHANToM Omni,presents a simulation of its PI speed control based on the control theory, design thePD controller to realize the position control simulation of a single joint in the forcefeedback device, collect the end position by the Simulink program, plan the pathtrajectory, and thus realize the end trajectory tracking control of the force feedbackdevice.Finally, deduce the force feedback response algorithm; combine the MATLABvirtual reality toolbox with the force feedback method, design the virtualrehabilitation training scene of lifting heavy objects, study the principle of human armforce sense and control the feedback force by designing the impedance controller,simulate and analyze its motion by ADAMS software, study the force situation of the human arm rehabilitation, and meanwhile design the virtual reality game with forcefeedback comprehensively, study the virtual reality factors of the human forcevariation and apply it to the upper limb rehabilitation.