Motion Planning And Control Of A Terminal-guided Rehabilitation Robot

Research shows that the majority of patients with limb movement function disorderscan be restored through rehabilitation exercise training. But through the traditional wayof artificial rehabilitation training was performed at both increased the rehabilitationmedical staff working strength, and it is difficult to obtain detailed data can be used toassess the effect of rehabilitation, therefore, the organic combination of robotics andrehabilitation medicine rehabilitation training robot arises at the historic moment. In thispaper, we design a suitable for the upper limb movement function disorder rehabilitationtraining robot, by the end of the robot driving the movement of patients’ entire upper limb,simulate all kinds of human upper limb daily behavior, make the upper limb muscles andeach joint movement function in patients with nerve get effective physical stimuli, toachieve the objective of the upper limb movement function in patients with recovery.This paper first introduces the principle of rehabilitation exercise illustrates thefeasibility of physical exercise therapy. On the basis of that, we develop a gantry type, sixdegrees of freedom upper limb rehabilitation training robot, and describe the detailcomposition and functions of the robot mechanical structure, the characteristics of thetransmission principle and other important auxiliary components, etc.Secondly, we design the robot’s servo motor control system and develop the visualrehabilitation training software.Finally, on the basis of human upper limb dynamics model, using the optimalcontrol theory and the mathematical tools of variation method for functional extreme, wepredict the theoretical trajectory of human upper limb motion; verify the generalcharacteristics of the human upper limbs motion trajectory. At the same time, we use themotion capture system to collect normal upper limbs trajectory of discrete points, uselinear interpolation method to connect these discrete points and acquire a smooth motiontrajectory of the robot end.