Research On Control Strategy Of Upper-limb Exoskeleton Robot For Neurorehabilitation

Stroke,as one of the most common neurological diseases in daily life,is the most common cause of adult disability in developed countries.Stroke is caused by an interruption of blood flow to the brain,during which,tissues in the brain are damaged because their blood supply is obstructed by a blood clot or by a narrowing or bursting of blood vessels.About a third of stroke survivors are left with lifelong hemiplegia and in need of rehabilitation immediately.Based on the comprehensive study of the movement mechanism of human upper limb and rehabilitation medical theory,combined with the robot theory,the author deeply analyzed the self-designed upper-limb exoskeleton robot for neurorehabilitation.The kinematics model of the upper limb rehabilitation robot was established by the twist exponential product method,compared with the modeling results of the D-H method.Using the combination simulation of MATLAB software and ADAMS software,the kinematics model was verified,the working space of the rehabilitation robot was analyzed,and the mechanism singularity of the rehabilitatio n robot was discussed.A safe trajectory planning algorithm for rehabilitation training is proposed,which lays the foundation for the control of the rehabilitation robot.The dynamics of the upper-limb rehabilitation robot is analyzed,and the dynamic parameters of the upper-limb rehabilitation robot are identified by using MATLAB system identification toolbox.According to the characteristics of early stage during the rehabilitation of stroke patients,feedback linearization control and sliding mode control strategy are proposed,and the algorithm is simulated and analyzed.Based on the characteristics of the contact force between the patient upper-limb and the rehabilitation robot,the impedance control strategy in joint space is proposed,and th e effectiveness of the algorithm is simulated and verified.