Research Of Active-Passive Control On Upper-Limb Rehabilitation Robot

As the aging of the global population, the phenomenon of upper limb dysfunction caused by apoplexy of the elderly is becoming serious. The aging of population causes the labor shortage, thus the inefficient traditional upper limb rehabilitation methods are facing challenge. Therefore, many countries have actively applied the robot technology to the limb dysfunction rehabilitation and dedicated to the productization of the rehabilitation robots. Based on the idea of productization, a 4-DOF upper limb rehabilitation robot and its control system are designed in this paper.Firstly, the development status of the domestic and foreign upper limb rehabilita-tion robots are introduced. After the analysis of the current control systems of the rehabilitation robots, the overall scheme of control system of the upper limb rehabilitation robot is established. The control system hardware including drive motors, actuators and sensors are selected. According to the design requirements, the function components and overall structure of the upper computer software are determined.Secondly, the kinematics and dynamics analysis of the upper limb rehabilitation robot are carried out. The mathematic model of the robot is established, and the active and passive control is researched. The passive controller is designed by using the fuzzy adaptive technology, and the simulation analysis of a given trajectory is carried out. The active controller is designed by using the impedance control technology. The Simulink/SimMechanics man-machine system model of the upper limb rehabilitation robot is established. The simulation analyses of given forces and trajectories are carried on two kinds of controllers, which are based on position loop impedance control and flexibility impedance control, respectively.Finally, The semi-physical experiment system of the upper limb rehabilitation robot are built on the QPID semi-physical simulation platform. By experiments, the effectiveness of the designed active and passive controllers are validated. Based on Visual C++ 6.0, the upper computer control software is developed, the upper limb rehabilitation robot system is built. By the normal rehabilitation training experiment,the stability and reliability of the upper limb rehabilitation robot system are validated.