Design And Implementation Of Control System For Shoulder Rehabilitation Robot Based On ROS

Stroke patients who are increasing year by year are bringing more and more patients with motor dysfunction.The increase in patients has led to a shortage of medical resources,and the workload of rehabilitation physicians for patient rehabilitation training has increased.There are more and more researches on the use of rehabilitation robots instead of doctors for rehabilitation training for patients.Rehabilitation robots have the characteristics of saving manpower,high precision and intelligence,and broad research prospects.The paper first summarizes the development trend and existing problems of rehabilitation robots based on the research status at home and abroad.Then,in the aspect of rehabilitation theory and exoskeleton structure,the functional requirements of the existing rehabilitation robot prototype platform are analyzed,and according to the advantages and disadvantages of the open source robot project platform ROS,the design is easy to expand,distributed and meet real-time.The overall structure of the rehabilitation robot control system.The robot model was established by D-H method,and the forward and reverse kinematics analysis was carried out.The active and passive rehabilitation training tasks were designed and implemented.Passive rehabilitation supports the training of the shoulder joint with one degree of freedom,and the training of compound degrees of freedom.An active rehabilitation training based on surface EMG signals is implemented,and a classifier supporting the state machine is trained by collecting the EMG signal feature values to identify the wearer's motion intention.Active rehabilitation training makes patients more involved and improves their motivation.The mirror rehabilitation training control method can be dynamically adjusted to ensure that the affected limb can follow the movement track of the healthy limb better,and the power of the affected limb can be dynamically adjusted to exercise the limb strength to a greater extent.