Upper Limb Rehabilitation Robot Control System Study Based On SEMG

Surface electromyography is a biological electrical signal that is collected from human active exercise by surface electrode and it can reflect the human body muscle activity in a certain extent. Obtaining human motion intention through the analysis of surface EMG signal processing is a major topic in the field of robot control. An attempt is made to explore the prediction of human motion intention, and a control system of upper limb exoskeleton rehabilitation robot is established.Based on the human body physiological anatomical structure of upper limb, a novel exoskeleton rehabilitation robot is designed for upper limb with two degrees of freedom, which can complete the flexion-extension movement of the elbow joint and internalexternal rotation of the forearm, and the virtual prototype is establish by CREO. The robot is the main control mechanism of the control system.By selecting the surface electrodes, data acquisition instrument and goniometer establish the surface EMG signal acquisition system. Muscle movement activation information is obtained by using MATLAB/Simulink tools to design the simulation program to filtering, rectificating, enveloping and normalizing the collected signal.Through the analysis of the upper limb physiological mechanism, elbow joints’ muscle dynamic model, musculoskeletal geometric model and the kinematics model are established. With the use of MATLAB/Simulink tools, the sensitivity of model parameters is analyzed and larger sensitivity parameters optimized is selected by genetic algorithm, and the optimized parameters is put into the elbow joint physiological model for simulation. The simulation results show that using models to predict the elbow joint movement angle is consistent with measured movement angle, elbow physiological model can accurately express the human movement intentions.Motion controller and PC software is selected to design the control system of robot. Internal-external rotation of the forearm movement is set as the first class movement and set one gear. Flexion-extension movement of the elbow joint is set as the second class movement and set four gears. Setting gears help patients to effectively implement the corresponding rehabilitation training on the basis of their own situation.