Research On Arm Rehabilitation Training Mechanism And Its Measurement And Control System

With the development of rehabilitation medicine, control technology androbotics，rehabilitation training mechanism was applied in medical field more andmore. It was for patients with movement disorders and assisted patient’s limb to dotraining exercise in different mode. So realize shoulder and elbow’s muscle exercise,sports training and the recovery of neural function, to achieve the purpose of the besteffect of rehabilitation gradually.Currently, overseas rehabilitation equipments have shortcomings such ascomplicated control and high prices. Most of rehabilitation training equipment ofdomestic move confined to the horizontal plane, not to the gravity field. Therefore,we developed a2-DOF arm rehabilitation training mechanism within vertical plane,and realized mechanical arm moving by controlling joints’ motor with ARMcomputer. It can undertake rehabilitation training on shoulder and elbow. In thispaper, main works as follows.1) Put forward the overall system design scheme of arm rehabilitation trainingmechanism, mainly including the mechanical structure, scheme selection ofmeasurement and control system, the layout of sensor, motor select and its drive, etc.According to the design requirements, we designed the mechanism platform ofrehabilitation training mechanism.2) Studied on its data acquisition and processing design, motor drive and controltechnology, etc. Multi-dimensional force sensors were used to detect man-machineforce. Established the measurement and control platform of the arm rehabilitationtraining mechanism. Measurement and control system’s hardware circuit mainlyincludes: the signal conditioning circuit of sensor, AD conversion circuit, encodersignal processing circuit, motor drive circuit and power supply circuit, etc.3) Mainly studied on passive movement mode of rehabilitation training modes.In the connecting rod coordinate system, established its kinematics and dynamicsmodeling, and finished simulation. In passive sports training mode, we designed trackcontroller and carried out experiment and simulation. The results show thatmechanism arm drive disabled arm coordinated move according to desired trajectory for rehabilitation training exercise with a-1°~2°deviation of shoulder and-2°~2°deviation of elbow, and so meet the requirements of rehabilitation training.4) In order to protect disabled arm and control the man-machine force withinthe scope of the security, we analyzed the importance of flexibility control. Weestablished model of impedance control based on location, and carried out experimentand simulation. The results show that impedance control adjust human force withinthe scope of-3N m~3N m, which is predetermined safety range, so avoid thesecondary damage to limb, and rehabilitation training mechanism becomes morehumanized.