The Design Of Active Rehabilitation System For Upper Limb Rehabilitation Robot Based On Velocity Field Control

Upper limb rehabilitation robot is a new technology that has been developed rapidly in recent years,and is also the combination of the robotics with rehabilitation medicine.The central nervous system with highly adaptable,which is the theories bsis of the central nervous system recovery and rehabilitation robot.Using rehabilitation robot on rehabilitation training can reduce the dependence on the doctor and improve the efficiency of rehabilitation.In general,upper limb rehabilitation training into two categories:passive rehabilitation training and active rehabilitation training.The passive rehabilitation for early rehabilitation training which patients can not active motion and need rehabilitation robot help.However,the active rehabilitation training for late rehabilitation training which patients can active motion with the help of rehabilitation robot.The study shows that active training of stroke patients more beneficial than passive training in improve brain blood flow,so active training can improve the efficiency of rehabilitation.Patient's active participation have strengthen and promoting on recovery of motor function.So,active rehabilitation training should be adopted when patients can active motion with the help.Active control policy is adopted for rehabilitation training in this thesis.Robot's D-H parameter and Lagrange method has been used for kinematics models and dynamic models in this thesis.Matlab/SimMechanics which can prove correctness and validity of the models,has been used for establish simulation models of the robot system.According to the requirement of security,stability and active rehabilitation in clinical practice?Dual-closed loop structure is adopted in this thesis.The contour controller of outer rings can assure that robot follow the desired trajectory.The control system of inner rings is velocity controller.Patient's forces can be introduced into the control system,so rehabilitation robot's velocity can be change by patients,and realized by active training.Also,Open source OpenSenceGraph has been used to provide visual feedback and guide training for patients and stimulate patients enthusiasm in rehabilitation training.Simulation results show that the velocity field motion and active controllers ensure that the robot motion is smooth and stable and velocity of robot motion can be adjusted by patients.And the contour following is more secure than the trajectory tracking has been proven by experiment when the system work normally with faults.At last The effectiveness and viability of the contour control can be proven by experiment on devices.