Research Of Upper Limb Rehabilitation Robot Control And Simulation Based On Virtual Reality

With the development of economy and the progress of science and technology, people’s living habits and living environment have undergone tremendous changes. According to the WHO statistics, stroke incidence rates in our country were rising trend year by year, and the rate of paralysis and disability caused by stroke and brain injury were also shows growth trend. In this context, rehabilitation robot, as a treatment for patients with hemiplegia rehabilitation medical equipment, because of its many advantages,gets more and more medical attention and favor.This thesis mainly relies on the5DOF upper limb rehabilitation robot system.By learning and researching the treatment mechanism of rehabilitation medicine, in contrast to traditional rehabilitation training, the thesis puts forward that replace the manual auxiliary treatment with rehabilitation robot. Based on the virtual reality technology, the thesis designs the virtual interactive environment for upper limb rehabilitation training. Research works are mainly reflected in the following aspects:Firstly, according to the characteristics of kinematics and dynamics of the robot arm, the thesis sets up the upper limb robot arm’s kinematics model.By this model, the thesis designs the passive training control strategy. In considering the disturbance of spasm on the system, the thesis simulates the traditional PID controller, fuzzy controller and fuzzy PID controller on the rehabilitation robot system respectively. And the results of simulation show that the fuzzy control and fuzzy PID control are effective in inhibition of the uncertain interferences of rehabilitation robot system.Secondly, depending on the MATLAB virtual reality modeling tool, the thesis builds robot3D simulation model.Using the powerful simulation functions of MATLAB,the thesis designs and constructs of a5DOF upper limb rehabilitation robot simulation system. Based on this simulation model and system, we can solve the problem such as prediction, analysis and evaluation successfully. This research has laid a solid foundation for further study.