Design And Research On Control Strategy Of Upper Limb Exoskeleton System With Human-Robot Interaction Scene

The problem of population aging is becoming more and more serious.Stroke is a common disease of the elderly.The vast majority of people with this disease will be accompanied by a certain degree of limb motor dysfunction,which causes great inconvenience to the life of patients.At present,for this kind of patients’ rehabilitation training and daily assisted upper limb exoskeleton robot,there are still some problems,such as large structure volume and mass,unsatisfactory active compliance control effect,single rehabilitation training function and so on.To solve these problems,the control system of upper limb exoskeleton robot is studied in this thesis.The specific work contents are as follows:（1）According to the functional requirements and overall performance indicators of the upper limb exoskeleton control system,the structural design scheme and system control architecture of the exoskeleton robot are determined,the system hardware platform and system control software are built,and an upper limb exoskeleton robot system suitable for left and right arms is developed.Unlike the traditional rehabilitation exoskeleton,the exoskeleton adopts lightweight structural design and has good wearability,It can be applied to the assistance of patients’ daily life.（2）For the upper limb exoskeleton system with output constraints,an adaptive trajectory tracking control method based on low-cost neural approximator is proposed.In this method,a novel adaptive scheme based on optimized NNs approximating mechanism is designed to approximate the uncertain dynamic parameters,which successfully avoids the entire retraining from the beginning when there is new data need to be trained,and by presetting a robust adaptive mechanism to eliminate the over compensation error of the neural network.Then,a barrier Lyapunov function is constructed to ensure the output constraints and the trajectory tracking accuracy.Finally,the stability of the closed-loop system is proven by the strict Lyapunov argument.Experiment results show that the proposed scheme can effectively improve the control performance.（3）Based on the rehabilitation training principle and training paradigm of upper limb exoskeleton robot,from the three analysis angles of rehabilitation training mode,system function module and system safety and reliability,the human-robot interaction interface of the system is designed to realize the functions of real-time control and motion state monitoring of exoskeleton robot.In order to stimulate patients’ enthusiasm for rehabilitation training,the rehabilitation training system combines virtual reality technology and designs rehabilitation training simulation scenes and rehabilitation training games.The training scenes have a variety of training modes,which can provide patients with interesting and efficient rehabilitation training tasks.