Design And Research Of Bilateral Upper Limb Rehabilitation Robot Based On Human-machine Adaptation Factors

More than 15 million people in China each year need rehabilitation training due to stroke caused by upper limb paralysis.Upper limb rehabilitation robots can replace or assist physicians in rehabilitation training,which is the research hotspot currently.The research status of upper extremity exoskeleton at home and abroad was analyzed,summarizes their advantages and disadvantages,and designs an 8-DOF bilateral upper limb rehabilitation robot based on clinical rehabilitation medicine,the characteristics of human upper limb joint movement and human-machine adaptation.Firstly,a flexible force interactive driving module based on motor binding force sensor is proposed.The driving module has the advantages of small size,light weight and low cost.Then,based on this modular unit,an 8-DOF double upper limb rehabilitation robot is designed.And the drive module,mechanical structure design and control system design of each part are introduced.Secondly,forward kinematics mathematical models of bilateral upper extremity exoskeletons were established by D-H method,and the parameters of the D-H coordinate system on the left and right sides were determined,and the correctness was verified.Then Then Monte Carlo method and MATLAB software are used to simulate the motion range of left and right end positions and the cross region of the motion range of the end positions,The safety of bilateral collision of bilateral upper limb rehabilitation robots is studied.Finally,a series of prototype tests were carried out for the designed bilateral upper limb rehabilitation robot.Firstly,the static and dynamic torque detection accuracy tests were carried out on the drive unit to evaluate its detection performance.Then,the impedance control algorithm is used to test the output performance of the driving unit at different frequencies,amplitudes,sinusoidal and step moments,the experimental results show that under certain output torque frequency conditions,the drive joint can meet the performance requirements of the rehabilitation robot's compliance force interaction.And the healthy person wears the bilateral upper limb rehabilitation robot for passive rehabilitation training state.The experimental results show that the system runs smoothly and has excellent performance under passive rehabilitation.