The Fundamental Research Of A Hemiplegic Rehabilitation Exoskeleton-robot For Upper-limb

With the continuous development of the national economy, people are more and more concerned about their own health, especially in the current iss ue of upper limb paralysis because of stroke, has become the leading cause to human health, upper limb paralysis caused byation of upper limb rehabilitation robot research, designed in line with a new clinical application of upper limb rehabilitation exoskeleton robot combined with the recovery mechanism and clinical physiology of human upper limb and its kinematics, dynamics modeling and simulation analysis, and do the robot trajectory tracking control study on the basis of the kinematics and dynamics. not only the quality of life of patients seriously affected, back to the patient’s family and society a heavy burden, therefore, patients with hemiplegia after stroke treatment and rehabilitation is particularly important and urgent, and the rehabilitation medicine and robotics integration is the new application of rehabilitation medicine, based on the present situation of upper limb rehabilitation robot research.Firstly, analyze the rehabilitation of the upper extremity hemiplegia mechanism and physiological structure of human upper limb after strokes, design a new type of upper limb rehabilitation consistent with the clinical application of roboti c exoskeleton, and its driving scheme and transmission protocol analysis. Using D-H matrix modeling method based on this, the kinematic equations of upper limb rehabilitation robot is established, analyze the positively inverse kinematics and verify the theoretical analysis. While using the vector integration method for upper limb rehabilitation robot Jacobian matrix analysis, the relationship between the end of the robot joint space to maneuver speed transmission for real-time control and laid a theoretical foundation for optimization of upper limb rehabilitation robot exoskeleton.Then, the thesis further expand the study of upper limb rehabilitation robot dynamics by using Lagrange method to establish the dynamic equations of upper limb rehabilitation robot, and its dynamics simulation analysis by Adams,for the upper limb rehabilitation robot trajectory tracking control provides the necessary dynamics and the controlled object model based on virtual prototype.Finally, in order to ensure an ideal position control accuracy when the upp er limb rehabilitation robot works, avoid secondary damage to the patient. Therefore, o the study of upper limb rehabilitation robot trajectory tracking control algorithm on the basis of the robot kinematics and dynamics analysis, the PD control, PD + gravity compensation control and computed torque control algorithm method were analyzed independently, and then show the feasibility of the control algorithm by Adams and Matlab joint simulation results, combined with simulation results show that each of the control algorithms have the small tracking error, fast response time, etc. The upper limb rehabilitation robot can achieve the task tracking target, achieving good control effect.