Upper Limb Rehabilitation Robot Research On Mechanism And Control System

The incidence rate of limb movement disorders in China has been increasing year by year with the development of nervous system diseases.Rehabilitation training for upper limb motion function,which occupies most of daily activities,is particularly important.Among them,upper limb rehabilitation robot is the research focus of clinical rehabilitation therapy.In this paper,a 6 degree of freedom upper limb rehabilitation training robot is developed.The mechanical system and control system of the robot are designed and studied.Firstly,according to the motion mechanism and physiological anatomical structure of human upper limb,based on human-machine compatibility,motion following,motion safety and other factors,a 6 degree of freedom series upper limb rehabilitation robot configuration covering the motion of shoulder,elbow and wrist is designed,and then the forward kinematics and inverse kinematics of the mechanism are calculated and analyzed by Po E method,D-H method and algebraic method.Secondly,the trajectory planning of the 8-character circular motion of the upper limb rehabilitation robot is carried out in the horizontal safety area,and the equivalent human-machine interaction force at the end of the robot is solved based on the force sensor.On this basis,an integral admittance control method is designed,and a Simulink simulation model is built for simulation analysis to realize the adaptive compliance control of the robot system.Furthermore,the s EMG signal data of 8 kinds of upper limb movements of 8participants were collected by 4-channel s EMG sensor.26 single and combined features in time/frequency domain are screened by using the cluster distinguishability evaluation index,and the classification algorithm model of sparrow search algorithm based on Sine chaotic mapping optimization least squares support vector machine is established to learn and recognize the motion intention of human upper limb.Finally,the prototype experimental platform of the upper limb rehabilitation robot is built,the basic performance such as the actual working range of the manipulator is calculated,and the passive control and compliance control tests of a single joint are completed,which shows that the designed admittance compliance controller has good operation performance,through the continuous motion recognition experiment,it is proved that the designed classification and recognition algorithm model has good generalization ability.