Research On Active And Passive Control Algorithm Of Multifunctional Upper Limb Rehabilitation Robot

With the improvement of the people's living standards,the problem of population aging in China is becoming more and more serious.The most common disease that endangers the health of the elderly is stroke.Its sequela is on one side of the limb hemiplegia,and the traditional rehabilitation method is performed by rehabilitation physicians.Rehabilitation treatment,the factors of easy acceptability,emotional influence and high cost can no longer meet the patient's rehabilitation requirements.Therefore,the rehabilitation robot formed by the fusion of robots and rehabilitation medicine has become the main method of rehabilitation treatment.This paper designs a6-degree-of-freedom upper extremity rehabilitation robot based on rehabilitation theory and clinical experience,and designs its control system.Firstly,this article introduces the theory and medical knowledge of upper limb rehabilitation and conventional rehabilitation exercises.According to the appropriate control strategy and method,the design of the control system program is carried out,and the selection of the main control hardware is performed.Then,the control algorithm of the upper limb rehabilitation robot is studied.Through the teaching mode of the patient's rehabilitation movement design and acquisition and preservation of relevant data,curve fitting and preservation of the results in MATLAB,using curve-fitted data to play back rehabilitation actions to complete passive rehabilitation,while again collecting data and Save,compare the data collected from the two acquisitions and the curve fitting data,analyze the results;establish the gravity compensation algorithm through statics calculation,and perform the simulation calculation through MATLAB/Simulink to complete the study of the three-degree-of-freedom control algorithm.Finally,the control system software is programmed and the motion platform is built.The passive control algorithm of the teaching mode and the three-degree-of-freedom active control algorithm are programmed through the C++ language and debugged on the physical prototype to verify the feasibility of the algorithm and to finish various types of rehabilitation training.