Research Of Active 3 DOF Upper Limb Rehabilitation Robot Based Virtual Reality Technology

Human upper limb movement completed with the nervous system and the motion systems, it is one of the essential conditions of human beings to live independently. The problem of motion system or nervous system could cause physical disabilities and even loss ability of movement that seriously affecting people’s normal life. Stroke is a common disease of the nervous system, common in the elderly population. With advances in medicine, stroke mortality significantly reduced, but there are more hemiplegia symptoms after surgery. Modern studies show that, through rehabilitation training, hemiplegia patients with neurological injury can complete the restructuring of the central nervous system and functional compensation, motion function can also restore. Rehabilitation robot combines modern rehabilitation medicine, computer virtual reality technology and engineering technology, not only can provide a variety of training model to help patients recover, and improve the patient’s initiative with the virtual reality environments. Therefore, the development of upper limb rehabilitation robot has a very important significance and application prospects.For the case of upper limb hemiplegia patient with weak autonomy cannot achieve voluntary movement, the paper has developed an active training mode system based on the realization of the upper limb rehabilitation robot passive training pattern.In order to guide patients completed the rehabilitation, in active training mode AC servo motor as the main power source to drive robot handle motion by motor output torque. Analyze mathematical model of the servo motor, build servo system model through MATLAB platform, using id=0 vector control strategies, tuning PID parameters.Control core of the system is done by the digital processor DSP2407A. DSP2407A has a dedicated motor control module, using the module to achieve servo motor SVPWM vector control. ADC module to complete the current and voltage sampling function, QEP module to complete the encoder signal acquisition, system communication module achieved by the SCI, output PWM wave through I/O port control magnetic clutch with output controllable torque. To ensure proper operation, safety circuit is also designed in the system.This paper developed a virtual reality training game effaceurs to help patients recover, in Visual C++ platform combines OpenGL graphics technology to create a virtual environment, in this environment the patient can roam and do effaceurs exercises. Using 3DMAX to build model and import it to environment, using texture mapping to achieve realistic virtual scenes, joined the collision detection algorithm and writing the blackboard cleaning algorithm.The development active mode enriches the rehabilitation model, it has a certain significance for patients gradual rehabilitation, also laid the foundation for the next step of the rehabilitation of the evaluation and development of rehabilitation environment.