Design And Control Of A Limb Coordination Rehabilitation Robot

In China,the number of limb hemiplegia caused by aging and cardiovascular and cerebrovascular diseases is increasing year by year.However,the traditional one-to-one treatment plan by rehabilitation teachers requires not only a large number of rehabilitation physicians,but also low efficiency and accuracy of rehabilitation.Aiming at the problems of single posture in rehabilitation robot training on the market at present,according to the needs of patients in different rehabilitation periods for different postures and coordinated training of limbs,a coordinated rehabilitation robot for limbs is developed in this paper.The main work contents are as follows:Firstly,through the analysis of rehabilitation medicine knowledge and the exploration of human body movement rule,the design standard of rehabilitation robot is determined.In order to meet the patients' walking coordination in the later stage of rehabilitation,a rehabilitation training institution for the upper limbs was designed in conjunction with the rehabilitation training program for the lower limbs,so as to exercise the patients' limb coordination through the linkage of the upper and lower limbs.In order to meet the needs of patients in different stages of rehabilitation,the adjustment mechanism of multiple positions was designed.Secondly,based on the man-machine model,kinematics analysis and dynamics analysis were carried out to prove the rationality of the design of the rehabilitation robot in theory,which laid a theoretical foundation for the construction of the control system and trajectory planning of the rehabilitation robot.Then,the control strategies of the two main training modes of rehabilitation robot are analyzed.According to the explored human movement rules,the training trajectory of the rehabilitation robot is planned,and the planned trajectory is simulated and analyzed by MATLAB.Furthermore,the hardware platform of the control system of the rehabilitation robot is built.The hardware system design focuses on the circuit of the minimum system of the microcontroller,the wireless communication module and the motor drive interface.By selecting appropriate servo motor and motor servo driver,and connecting and debugging the drive and motor with the embedded control system,the hardware platform of the control system of the rehabilitation robot is built.Finally,the upper and lower limb trajectory verification experiment of the rehabilitation robot prototype was carried out,and the motion trajectory,joint Angle,electromyographic signal and other data were collected through the experiment.The correctness of the design of the rehabilitation robot mechanism was verified by analyzing the experimental data of trajectory and joint Angle,and the rationality of the design of the rehabilitation robot control system was verified by analyzing the interaction force and stability of the active and passive control system.By analyzing the EMG signals of the main muscle groups of the limbs,it is proved that the rehabilitation robot has a good rehabilitation effect.