Research On Visual And Force Feedback Upper-limb Rehabilitation Robot

As an important field in robot research,upper-limb rehabilitation robot has been widely used in medical and rehabilitation fields.In the research of upper-limb rehabilitation robot,while ensuring that the robot can drive the human upper limb to do the high-intensity repetitive training,feedback control of the interaction force between the patient and the robot can improve the patient's experience of rehabilitation and the effect of the rehabilitation treatment.In addition,during the rehabilitation training of patients,the visual feedback function is conducive to the reconstruction of the motor performance of the patients' brain and improves the sense of participation in the rehabilitation process.Therefore,this paper studies the rehabilitation robot and designs a rehabilitation robot with visual and force feedback.Firstly,after fully analyzing the structure and motion characteristics of the human upper limb joints,this paper proposes a design scheme of the upper limb rehabilitation robot with three degrees of freedom,and makes a concrete analysis of the robot structure and strength check.In addition,a mobile platform was designed to provide visual feedback to patients,and part selection and parameter analysis were carried out.Secondly,upper limb rehabilitation man-machine integration model was built based on ADAMS,the kinematics and dynamics simulation analysis.The rehabilitation effect of the rehabilitation robot was evaluated based on the range of motion of human joints.In order to measure the range of motion of the patients in the actual rehabilitation process,a wearable joint movement measuring instrument was designed and developed,which can measure the range of motion of the patients in the rehabilitation process in real time and add this data into the control strategy to improve the safety of the patients in the rehabilitation process.Thirdly,after fully analyzing the strategy of robot manpower feedback,the admittance control was selected as the control strategy of robot manpower feedback link of upper limb rehabilitation,and a variety of rehabilitation training modes were designed.The control system model was built in Simulink to verify the force and position following performance of the simulation model under the condition of input step signal,ramp signal and mutation signal.Finally,a real-time control system was established based on Matlab/RTW environment,and the driver,data acquisition card,controller and other parameters were selected and designed.The experimental platform of the rehabilitation robot was built and the position tracking and force tracking tests were carried out,which verified the rationality and feasibility of the rehabilitation robot.