Design And Implementation Of Flexible Drive Rehabilitation Robot Control System

Hand is one of the most important movement and perception organs of human body,and the loss of hand function caused by hand injury will bring great inconvenience to life.Therefore,the research and design of rehabilitation manipulator will help to improve the quality of the citizens' life.The control system of the rehabilitation robot is mainly responsible for the movement and decision-making of the rehabilitation robot,so that the rehabilitation robot can not only ensure the safety of the patient but also improve the rehabilitation effect when it drives the patient's hand to perform rehabilitation training.The flexible drive rehabilitation manipulator controls the manipulator through the steel wire to drive the hand movement of the patient,and can fully consider the coupling between the manipulator and the hand.In this regard,this paper mainly aims at a flexible driving rehabilitation manipulator control system design.In the process of the control system design of the rehabilitative manipulator,this paper successively carries out the design of the motion control system,the research on the mechanism of human hand movement,the kinematics analysis of the manipulator,the design of the speech recognition algorithm and the system integration experiment.Firstly,this paper design the motion control system of the rehabilitation robot with automation technology.The motion control system is the prerequisite for the rehabilitation manipulator to exercise and perform rehabilitation training,and it is the guarantee for the rehabilitation robot to achieve the basic function.This paper analyzes the characteristics of the flexible drive rehabilitative manipulator,and according to the characteristics of the manipulator,the motion control system is designed.After that,the corresponding equipment selection and hardware design are carried out in this paper.Then,based on the design requirements of the control system of the rehabilitation manipulator,this paper analyzes the software function design of the motion control system.Since the target of the rehabilitation manipulator is human,this paper needs to study the mechanism of human hand movement.In the process of analyzing the mechanism of the hand movement,this paper focuses on the angle change relationship and the trajectory of each finger during the natural grasping process.In the traditional method,motion trajectory detection is performed only for the index finger,and this paper will propose a multi-finger motion trajectory measurement method based on image processing.In this paper,a label with a bar marker is designed.The angle relationship of the label is detected by image processing to indirectly detect the angle relationship between the finger joints in the natural grasping process,then the multi-finger joint angle relationship detection is realized.Thus,the position of any point in the finger coordinates during the natural grip of the human hand can be expressed based on the robot kinematics.In rehabilitation training,the rehabilitation manipulator is in motion and drives the patient's hand for rehabilitation for most of the time.Therefore,the kinematics analysis of the rehabilitation manipulator will play a guiding role in the design of the control system.This paper marks a number of key markers on the rehabilitation manipulator.According to the pixel coordinates of the key points in images in the training process,the joint postures of the rehabilitation manipulators at various times are calculated.Thus,the relationship between the control input and the angle of each joint of the manipulator is calculated.The relationship between the input and the angle of each joint obtained by using this method can provide a control basis for the control method of the rehabilitation manipulator.In the process of rehabilitation training,if an active rehabilitation mode can be introduced and the movement of the manipulator is controlled according to the patient's active consciousness,not only can the patient more actively participate in the rehabilitation training process,but also the hand movement function zone can recovery better.In this paper,speech recognition technology is used to acquire the patient's active consciousness according to the voice instructions output by the patient,then controlling the rehabilitation manipulator to perform rehabilitation training.In the design of speech recognition algorithm,this paper adopts the theory of deep learning and uses the GRU sequence model to identify and classify speech signals.Finally,based on the above research,the paper conducts the integration experiment of the control system of the rehabilitation manipulator.This article uses the MFC programming framework to program the Windows application as the host computer software for the control system of the rehabilitation manipulator.In the host computer software,a speech recognition algorithm is embedded.The host computer software has a passive training rehabilitation mode and an active training rehabilitation mode.The patient can select the rehabilitation training mode according to the need.