Research And Development Of Upper-Limb Motor Function Rehabilitation Robot System

Upper limb motor function rehabilitation robot is used to help patients with hemiplegia, which is based on the hemiplegia rehabilitation theory and the physical structure of upper limb, combined with biology, mechanics, automation and other disciplines. This upper limb rehabilitation robot is very practical with simple mechanical structure. The studies include mechanical design, location-based impedance control analysis, hardware and software designs of control system.According to the rehabilitation theory, the physical structure of upper limb and the analysis of domestic and international researches on rehabilitation robot, the design rules for upper limb motor rehabilitation robot are proposed, which include rehabilitation function, usage safety, installation and operation. Under the guidance of these rules, the overall structure of the upper limb motor function robot is designed. The mechanical structure and selection of associated components are also introduced.Control theories and methods associated with rehabilitation robot are studied and analyzed. Location-based impedance control is the key research, which simulation model is established by Simulink. The simulation results are used to analyze how control parameters have an effect on the force between human arm and upper limb motor function rehabilitation robot.Finally, the control system is introduced from hardware design to software design. The introduction of hardware design includes hardware design scheme and the connection relationship between various components. The control interface is designed based on VB6.0 development platform. Host computer can easily control the servo motors through calling the related functions of the module in DMC2210.