Upper Limb Rehabilitation Robot System Design

Upper limb rehabilitation robot control system research has a very importantsignificance to improve the development of health care, while it also has the vitalsignificance to the intelligent control engineering field and the development of robot.Through driving in patients with limb rehabilitation robot to complete the correspondingsome daily exercise, the patient limb get corresponding treatment and the goal is achieve torehabilitation. Through rehabilitation robots to replace manual labor can make up for therehabilitation of rehabilitation and the various subjective factors, it can better help doctorsthrough collected data to better to grasp and understand the patient’s condition. And patientscan get more effective treatment. Of course it can meet the needs of patients withhemiplegic while bring more convenience.This study is three degrees of freedom rehabilitation robot passive exercise controlmode. First introduced the development of domestic and international rehabilitation robot,and to briefly explain a little background and significance of the research, and thenintroduces the rehabilitation robot on some of the requirements of the design. For patientswith hemiplegic special requirements at the same time, determine the robot in a safe,convenient and aspects of the design requirements. Then the forward and inverse kinematicsrobot space is analyzed to the set speed, position, acceleration of rehabilitation robot motor,etc. According to the functions and requirements, we propose the overall structure of thesystem and use C8051F040microcontroller as the core control chip. Then we make sure thehardware part of the system peripheral circuit and motor drive modules. To set rehabilitationrobot motor velocity, position, acceleration and so on, we introduce the forward and inversekinematics of robot space. Finally, the control system based on C8051F040achievedthrough practical tests show that the system is able to complete the requested action.