Design Of Control System For Exoskeleton Rehabilitation Robot With Multiple Rehabilitation Strategies

The upper limbs of the human body have strong ability to take objects and complex coordination,and have an indispensable role in daily life.The upper limb motor dysfunction caused by stroke greatly impairs the normal function of the upper limbs of the human body and seriously affects the normal life of the patient.As the number of patients with stroke increases year by year,the traditional upper limb rehabilitation treatment program can not guarantee the high efficiency and sustainability of rehabilitation.The upper limb rehabilitation robot is gradually becoming an important part of the upper limb rehabilitation treatment field.This paper focuses on an exoskeleton type rehabilitation robot and conducts design research on its control system.The main work is as follows:(1)Determine the overall scheme of the rehabilitation robot: design the mechanical structure of the rehabilitation robot based on the analysis of the joint motion of the upper limbs of the human body,build a hardware control platform according to the performance requirements of the rehabilitation robot,and design the development and control software according to the requirements of modern software engineering.(2)Based on the human body sensory model,the internal and external coordinates of the upper limbs of the human body are proposed.According to the natural motion data of the upper limbs of the human body,the multi-output support vector regression is used to establish the coordination relationship between internal and external coordinates,and the inverse kinematics algorithm of the rehabilitation robot conforming to the upper limb movement law is further proposed.(3)According to the obtained inverse solution algorithm,combined with the medical theory and clinical plan of upper limb rehabilitation training,three kinds of rehabilitation training strategies: passive,active and ADL strategy are proposed.(4)Designing a variety of experimental schemes to analyze the overall availability and stability of the recovered robot,the accuracy and real-time of the inverse kinematics,and the practicality of the three rehabilitation strategies,and prove that the design and development of the rehabilitation robot meets the needs of clinical rehabilitation medicine.The research work in this paper has some innovations in the research and development of rehabilitation robot control system,redundant kinematic chain inverse solution algorithm and rehabilitation strategy: the realization of the real-time part and the non-real-time part of the separation of the rehabilitation robot control system,proposed to conform to the human upper limbs The inverse kinematics algorithm of the rehabilitative robot of the motion law designed a rehabilitation strategy that meets the requirements of modern rehabilitation medicine.