Control System And Software Design Of Upper Limb Exoskeletal Rehabilitation Robot

Upper limbs is an integral part of the human body,it plays an irreplaceable role in human's daily life.Upper limb movement dysfunction affects a lot to the patient's quality of life,rehabilitation training is the only way to regain upper limb movement function.How to use robot to assist rehabilitation training for patient's upper limb has become a hotspot all over the world.The purpose of this thesis is to design the control system and software for a upper limb exoskeletal rehabilitation robot,and to provide safe and effective rehabilitation training for patients with movement dysfunction.The main research work includes:(1)The overall design of the upper limb exoskeletal rehabilitation robot has been proposed.In addition,the hardware configuration and composing has been completed according to the mechanical system and control system of the exoskeleton rehabilitation robot.(2)Two basic mode of rehabilitation have been proposed base on modeling and analyzing kinematics of the upper limb exoskeletal rehabilitation robot.Thereafter,the control algorithms have been explained in detail.(3)The overall design of human-computer interaction rehabilitation training software has been proposed,and the software has been developed from 5 aspects,including the control layer,user interactive layer,data access layer,virtual reality rehabilitation training layer,and remote rehabilitation layer.(4)The experimental platform for the the upper limb exoskeletal rehabilitation robot has been constructed to test the performance of the control system and software system.Thereafter,the experiments including rehabilitation training mode and human-computer interaction rehabilitation training software have been conducted to verify that each module of the system is stable and feasible.