Research On Control System Of Upper Rehabilitation Robot Based On Flexible Lasso Transmission

Rehabilitation Medicine points out: Due to stroke and other postoperative central nervous system injury caused by upper limb motor dysfunction,for patients with daily life has brought great impact.During the period after a stroke,the lost ability to exercise can be re-acquired by timely and appropriate rehabilitation training.With the development of robot technology,rehabilitation medical robot research and application has gradually become the focus of society,rehabilitation training robot as a new rehabilitation medical treatment for patients to provide effective rehabilitation training.Western developed countries in the field of rehabilitation robot has made great achievements,compared to the domestic research for rehabilitation robot started late,put into use very few results.In this paper,through the field of domestic large-scale hospital rehabilitation center equipment use,it is concluded that most of the city's stroke patients rehabilitation training is still in the traditional artificial massage therapy,the only remaining medical equipment for simple machinery,almost no intelligent rehabilitation equipment.Based on this demand background,based on the second generation of upper limb rehabilitation robot hardware platform for the control system in-depth studyThis topic is for HEBUT-AR2 upper limb rehabilitation robot,on the basis of the hardware of the existing prototype,it mainly studies the control system of the robot.Starting from the existing structural hardware and control basis,the passive,active and impedance control methods were studied separately,and the software based on master and slave control system was completed.Using LabVIEW software application G language program development,completed the entire control system and human-computer interaction system development and integration.According to the functional requirements of the control system Completed the control system required hardware selection,design and functional implementation.In the existing control strategy and hardware platform,according to the needs of the control system,to further complete the selection of key hardware,force data amplification filter circuit design,working circuit board drawing,printing and welding;complete microcontroller controller software Write,to achieve the force data collection,stepper motor closed-loop control and other functions.To achieve the three control strategies,laid the hardware and software foundationIn this paper,the three control strategies for upper limb rehabilitation robot were studied and realized deeply.The control system adopts the master-slave secondary control scheme.The use of LabVIEW software application G language development of the host computer man-machine interaction system,the second level control system uses six to achieve different functions of the microcontroller controller.Master and slave control system using serial communication between the realization of the passive,impedance and active three modes of work.Finally,based on LabVIEW software development of the host computer control system for experimental verification.It proves the feasibility and practicability of HEBUT-AR2 upper limb rehabilitation robot control system,and can realize the functions of human-computer interaction,control strategy,monitoring and real-time safety control...