Research And Design Of Control System For Upper Limb Rehabilitation Robot

Upper limb motor dysfunction caused by hemiplegia is a common sequelae of stroke.Studies have shown that a large amount of repetitive rehabilitation training has a good therapeutic effect on upper limb hemiplegia.However,the current artificially assisted rehabilitation training methods have problems such as the mismatch between the number of doctors and patients,and the inability to accurately control the joint movement of the patient's affected limb during training.In order to meet the rehabilitation training needs of patients with upper limb hemiplegia and realize the accurate control of the patient's joint movement trajectory,this thesis studies and designs the upper limb rehabilitation robot control system.The upper limb rehabilitation robot is used to assist patients in rehabilitation training to improve training efficiency and treatment effects.Firstly,according to the rehabilitation training needs of upper limb hemiplegic patients,the overall framework of upper limb rehabilitation robot control system is designed.In order to solve the problems of small degree of freedom and large volume of the existing upper limb rehabilitation robot,the mechanical structure of five degree of freedom exoskeleton type upper limb rehabilitation robot is designed.Through the cooperation of multiple joints,seven motion forms of human upper limb joints are realized.In order to realize the accurate control of robot joint trajectory,the dynamic model of upper limb rehabilitation robot is established by Lagrange method,and the PD type closed-loop iterative learning control algorithm is studied.Combined with Matlab/Simulink simulation analysis,the results show that the algorithm has good tracking effect in robot joint trajectory.Taking the head touching action as an example,the trajectory planning of the upper limb rehabilitation robot joint is carried out through the quintic polynomial interpolation method,and the smoothness of the planned trajectory is verified.Secondly,with the STM32F103ZET6 microcontroller as the core,the hardware circuit design of the lower computer is carried out.Through the software design of the lower computer,the functions of com,unication between the lower computer and the upper computer,robot motor control and data acquisition are realized.The software interface of the host computer is designed using the QT Designer platform,and the program function is implemented in the Python environment.The data is managed through the MySQL database,which realizes the transmission of motion control instructions,the display of training data,and the addition,deletion,and modification of patient information and training data.Finally,the system functions are tested,including serial communication test,host computer software test,and training test of robot single joint and multiple joints.The test results show that the functions of each module of the control system are reliable,and the single-joint training of the robot runs smoothly,which can meet the rehabilitation training needs of patients.The designed PD-type iterative learning controller achieves a good control effect in the multi-joint training test of the robot,and can provide effective rehabilitation training for patients.