The Rehabilitation Robot’s Trajectory Planning Based On Binocular Vision

Stroke is a kind of disease which causes dyskinesia among patients.The subject is a research of a kind of 5DOF upper limb rehabilitation robot.The 5DOF robot is in keeping with the rule of upper limb movement. It enables upper limb movement disorder patients recover and stimulate the nervous system when is used to drive patients to do exercise. In order to simulate the motion of the patient’s upper limb in the process of the rehabilitation doctor undergo the treatment, this thesis fulfill the task of trajectory planning by using binocular vision to measure the distance of the target.The mainly completed works of this thesis include:(1) The kinematics model of rehabilitation robot is established to analyze the structure and motion characteristics of the upper limb rehabilitation robot by using D-H method.The kinetics of rehabilitation robot is established to analyze the dynamic character by using Lagrange equation.(2) Aiming at the problem that the rehabilitation robot can’t imitate rehabilitation physician extremely for lacking of enough motion information, the information retrieval software is developed on Windows platforms by using C++language based on binocular vision.The experiment results show that this software is easy to use,and the derived teaching points can meet the requirement for trajectory planning.Teaching points are also called midpoints.(3) In order to improve the similarity between the derived trajectory and the patient upper limb movement, the derived teaching points are fitted.This procedure can also ensure the realizability of the derived trajectory on this hardware system.The single joint movement is fitted by using linear & circular interpolation.The mutiple joint movement is fitted by using cubic uniform B-spline curve.(4) The velocity of derived trajectory is optimized by using genetic algorithm(GA) according to principle of least work. This processing procedure is to ensure the derived trajectory can meet the requirement of motion characteristics of human body, what’s more, the comfort degree of stroke patients when they are using this system can also be improved.The result shows that the motion of rehabilitation robot is more steady.The result show that the derived trajectory is in keeping with teaching acts, and the change in velocity is similar to motion characteristics of human body.The derived trajectory can meet the requirement of rehabilitation medicine.