Research On Control System Of Flexible Upper Limb Rehabilitation Robot

China has entered an aging society,and the incidence of cardiovascular and cerebrovascular diseases and strokes is rising.About 85% of these patients have upper limb dysfunction.The traditional rehabilitation training method is that the rehabilitation therapist performs hand-to-hand,one-to-one,continuous and repeated passive training on the patient.There are problems such as low efficiency,poor control accuracy,and poor patient initiative to receive treatment.Therefore,the development of upper limb rehabilitation robots to assist the affected limbs in rehabilitation training can not only alleviate the social problems of shortage of rehabilitation physicians,but also help shorten the rehabilitation time and improve the rehabilitation effect.This paper aims at the problems of the existing terminal traction and exoskeleton rehabilitation robots with large inertial impact,poor control flexibility,and single training action.Combined with the self-developed rope traction upper limb rehabilitation robot body,a flexible upper limb rehabilitation robot control system was researched in order to achieve the robot's compliance control in different training modes such as passive and active.The main research work of the thesis is:1.Kinematics analysis and movement planning of flexible upper limb rehabilitation robot.Combined with the hybrid mechanical structure of the flexible upper limb rehabilitation robot,the forward kinematics and inverse kinematics were analyzed,and the spatial relationship between the rehabilitation robot joints was established.The movement characteristics of clinical upper limb rehabilitation movements were studied,and the speed and acceleration curves of different rehabilitation movements were obtained by using motion capture technology.The Cartesian space planning method is used for trajectory planning,and the rehabilitation robot model is established using matlab,and the motion simulation is carried out.The results show that the robot's trajectory is smooth and the movement is compliant,which can realize stable rehabilitation training.2.Research on the control method of flexible upper limb rehabilitation robot under different training modes.For passive training,the Jog and Follow motion mode are used to achieve coordinated control of multiple motors.At the same time,the accuracy of the rehabilitation trajectory is improved by the arc interpolation algorithm,and the effectiveness of the passive training action is ensured by setting the motion plane detection method;for active training,using motion capture technology to obtain the real-time movement status of the upper limbs,and judging the movement intention based on the rope tension value,implementing the follow-up control of the rehabilitation robot through PVT motion planning,and using PT motion for speed planning to achieve compensation control.3.The control system of flexible upper limb rehabilitation robot is realized.Completed the development of the hardware and software system of the robot control system,and realized the compliant control of the robot.On the hardware side,a Nokov-based motion capture system and hardware selection of the control system were built;on the software side,the human-machine interaction software system for upper limb rehabilitation training was developed using the C/S architecture,mainly including the motion control layer,data interaction layer,Machine interaction interface layer.At the same time,an upper limb rehabilitation assessment system was designed based on case-based reasoning,which could automatically generate a rehabilitation treatment plan in combination with the movement function of the affected limb.4.Experimental research on flexible upper limb rehabilitation robot.An experimental platform of rope-traction upper limb rehabilitation robot was built,and the experimental research of passive training,active training and upper limb rehabilitation evaluation system was completed.The results show that: in the passive rehabilitation training mode,the maximum absolute errors of single joint and multi-joint movements do not exceed 5mm and 6mm,respectively,and the control system is stable;in the active rehabilitation training mode,the robot can achieve good follow-up control and compensation control,and the system responds delay is not more than 5ms.