Design And Research On The Control System Of Patient’s Self-guided Rehabilitation Robotic Arm

With the degree of aging population increasing, stroke rehabilitation medical has a surge in demand, but the Rehabilitation institutions and rehabilitation professionals are very scarce. In view of this situation, the use of robot-assisted rehabilitation therapy can replace part of the work of medical staff. The Rehabilitation robot can help patient to compensate and rehabilitate the weakened body functions with a great quantity of repetitive motion training, in recent years, it has become a a research focus in the field of medical engineering. The research of rehabilitation robot involves many disciplines, compared with industrial robots, it puts more emphasis on the research of control performance and intelligent operation and combines robot technology with medical rehabilitation technology.Most stroke patients are temporary or permanent loss half of the body function, while the other half body is still healthy. This thesis will design a new rehabilitation robotic arm for this kind of stroke patients. The system will use the patient’s own healthy arm generated trajectory to drive the paralyzed arm to do rehabilitation exercise. Combined with patient self-guided control, this rehabilitation system can better adapt to each patient’s own intensity of treatment. The control system of rehabilitation robotic arm is the mainly content of this thesis.The control system of this rehabilitation robotic arm based on patient self-guided consists of two parts, there is guide arm system which is used to capture the patients’ health arm movement, and robotic arm which is used to drive paralyzed arm to move. Based on the different designs of these two parts, this thesis elaborates on the hardware design and software implementation of the overall control system, including the applications of two controllers LM4F232and STM32, the communication protocols between them, in addition, some external modules such as motor drive module, encoder module, display module, etc.This thesis also studies the dynamic model of body’s arm and the control strategy. The arm model has the characteristics such as strong coupling, nonlinear, multi-input multi-output. Model predictive control as computer optimal control algorithm established on a forecast model and the rolling optimization, can adapt to these characteristics of arm model. Through the establishment of the dynamic model of body’s arm in MATLAB and Simulink, this thesis will use the model predictive control algorithm to control this model, and validate control effect with simulation.