Research Of Training System Of 3 DOF Upper Limb Rehabilitation Robot

Nowadays,the number of patients with cerebral apoplexy is increasing along with increasing number of elderly population.Stroke is sustainable function defect of cerebral spirit that caused by acute cerebrovascular disease.Medical research shows that the central nervous system have compensatory and restructuring on the structure and function by scientific rehabilitation training after the neural function damage.The rehabilitation robots combined with robotics and rehabilitation medicine can replace therapist implement simple and repeat rehabilitation exercise training.Combining virtual reality technology with rehabilitation medicine can boost the enthusiasm of the patient in the rehabilitation process,and patients actively participate in rehabilitation training can improve the cure rate.So this topic that developed 3 DOF upper limb rehabilitation robot based virtual reality technology has very important application prospect and the research significance.In this paper,the author studied the theoretical basis of exercise rehabilitation,and according to the different stage of rehabilitation treatment,the author proposed the active and passive rehabilitation movement patterns.The author had planned trajectory of rehabilitation robot in passive mode,including linear and arc motion.Completed the inverse kinematics solution by means of establishing the rehabilitation robot virtual prototype in ADAMS,the simulation curve was proved that planned trajectory can meet the demand of passive mode of rehabilitation training.The author designed the control system of 3 DOF upper limb rehabilitation robot,the system adopted "PC+ motion control card" open movement control method.Done PID controller design for servo control system,adopted the ADAMS and MATLAB joint simulation method verified the validity of the control system.It completed hardware and electrical design of the control system.Motion control program of planning trajectory in passive movement was developed,ultimately achieved rehabilitation robot movement according to the planning trajectory.This paper combined virtual reality technology with rehabilitation robot.According to different stages of limb rehabilitation,the author designed passive and active training environment on VC++6.0 platform.The passive environment aims to exercise limb range of motion.The active environment combined with the actual life mainly exercise limb coordination and stability,contributed to put abilities that produced by train to actual life.the author debugged experiment prototype system,the experiment proved that rehabilitation robot can realize planning trajectory,and finished the communication between virtual environment and lower machine.The work had been completed establishes the foundation for rehabilitation robot remote control and rehabilitation evaluation.