| Stroke is one of the most common diseases in ageing society. Motor dysfunction caused by stroke has made the patients become heavy burdens of family and society. For now, it is a trend for patients to use rehabilitation robot for movement function recovery. But the result of rehabilitation training is not ideal, for rehabilitation equipment in most hospitals is too heavy to be portable, making the patients feel uncomfortable and not involved. In this thesis, we designed a wearable upper limb rehabilitation robot driven by pneumatic muscles based on virtual reality and researched on the control theory of it.According to rehabilitation theory and the need of the patients, a wearable upper limb rehabilitation robot driven by pneumatic muscles and the control system of it was introduced. Isobaric and isometric tests were done and the model of pneumatic muscle used in the robot was built. Model of the joint driven by two pneumatic muscles in opposing pair was built and tested to prove the effectiveness.In order to improve the control effect, PID was used to control the position. And furthermore, fuzzy-PID based on PID was developed, accuracy and stability of which is proven. Also, we introduced proxy-based sliding mode control(PSMC) based on need of safety and comfort. This method can achieve smooth, over damped recovering motion after interrupts. Comparison between traditional control and PSMC control after interrupt was shown.Finally, virtual reality platform was built to improve the effectiveness of rehabilitation training. The platform was developed under Panda3 D combined with eye tracker. By using rehabilitation robot with virtual reality platform, active intention of the patients could be shown through eye tracker, and feedback of the rehabilitation training can be seen through the virtual reality environment. Thus the patients could be motivated and the result of rehabilitation training could be improved. |
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