Design And Control Of Flexible Exoskeleton For Upper Limb Rehabilitation

In recent years,the demand for exoskeleton for human rehabilitation training has been increasing,and the research on exoskeleton for upper limb rehabilitation training has developed rapidly.However,research is still focusing on rigid joint cxoskeletons and rehabilitation training for patients basing on Continuous Passive Motion(CPM).There are few studies on the rehabilitation exoskeleton with the torque/positon hybrid control.This paper designs a flexible joint basing on Serial Elastic Actuator(SEA),and develops prototypes of rehabilitation training exoskeletons for elbow and shoulder.Firstly,exoskeleton component selection and SEA key elastomer design are carried out;secondly,flexible exoskeleton structure design and control algorithm design;finally,motion planning and experiment of rehabilitation treatment mode,and the effectiveness of exoskeleton control is verified.The main contents of this paper are as follows:1)Design of exoskeletons basing on SEA for elbow and shoulder joints rehabilitation.The selection of components was determined and the design the series elastomer of SEA key components by parameters and motion simulation of human upper limbs.The SEA exoskeletons are designed and the key parts was checked by FEM.The exoskeleton prototype platforms are developed.2)Design a torque/position hybrid control algorithm for flexible rehabilitation exoskeleton and the motion planning of rehabilitation mode is carried out.A torque controller based on velocity inner loop and a position controller based on moment inner loop are designed.The hybrid control of moment and position of exoskeleton is realized.Exoskeleton motion planning basing on Matland rehabilitation training classification standard.3)Experiments and validation of rehabilitation manipulation were carried out with exoskeleton prototype.The experiments of position following,torque/position hybrid control and five rehabilitation treatment modes were carried out.The experimental effect of exoskeleton was analyzed,and the control effect and the feasibility of rehabilitation treatment of upper limb exoskeleton were verified by experiments.