Design And Motion Planning Of Upper Limb Rehabilitation Robot Based On Series Elastic Actuator

There are approximately 75 percent of stroke survivors who are suffered from paralysis,facial paralysis,visual impairment and language barriers,among which hemiplegic is the most frequent symptoms. On the basis of the brain remodeling theory,limb motion ability can recovered from physical exercise,which has been verified in clinical event. It makes hemiplegic patients see the hope of recovering from hemiplegic. In clinical rehabilitation training,the therapist guides patients to complete physical exercise in one to one way. This kind of rehabilitation method is inefficient,and cannot obtain objective rehabilitation parameters,which makes it difficult to be popularized.With the development of science and technology, many excellent research groups have developed robotic systems for limb rehabilitation. The corresponding rehabilitation and control strategy for rehabilitation robot has achieved a good effect on upper limb rehabilitation. Good economic value makes rehabilitation robot be well applied to more hemiplegic patients.An upper limb rehabilitation robot on the base of the series elastic actuator was designed on the basis of human kinematics and rehabilitation theory,and reference with present domestic and foreign research situation,in this research the following research task was finished.Elastic rope driving rehabilitation robot with five degree of freedom(DOF)was design, and the distribution of DOF was determined. The rotary joint was designed, and elastic actuators were designed and analyzed. The dynamic model of rehabilitation robot was built, and its dynamic characteristics were investigated. The exoskeleton rehabilitation robot kinematics equation by D-H method was established,according to the link frame of rehabilitation robot. Inverse kinematics and Jacobian matrix of the robot were calculated,and ADAMS and MATLAB was utilized to verify whether the robot’s kinematics is correct. MATLAB figured rehabilitation robotmotion space was calculated.The trajectory planning method theory was analyzed. MATLAB robotic toolbox was utilized to plan the trace of rehabilitation robot in the joint space. The kinematics of robot trajectory was analyzed in the joint space with MATLAB. The complex trajectory was optimized to make the rehabilitation robot work smooth. ADAMS was chosen to get simulation model of the rehabilitation robot. Subsequently, Kinematics characteristics in Cartesian space and the dynamic characteristics of trajectories were analyzed in ADAMS. The reliability of rehabilitation robot was verified.