Study On The Upper-limb Exoskeleton Power Robot

At present,with the increase of work pressure and unhealthy habits in life,the probability of cardiac arrest increases,then the doctors need to perform effective cardiopulmonary resuscitation(CPR)for patients.There are strict requirements for frequency and amplitude in the process of CPR,but the doctors tend to feel physical strength overdraft and it will influence the effect of rescuing.In this paper,a upper-limb exoskeleton power robot was designed to increase the power for doctors to solve this problem,it can drive each joint rotate coordination through the motors and transfer the force to the doctor’s hands,contacting the patient to rescue.Doctors not only can perceive the patient’s real-time situation better,but also can maintain enough power in full CPR to achieve the most effective rescue effect.And this exoskeleton also can be used to help people with disabilities to complete the rehabilitation train of several upper-limb joints in the future.This article main research content is as follows:1.In this paper,the structural concept of the exoskeleton power robot used in CPR are designed according to the movement characteristics of each joint of human upper limb.Then the driving motor and the reducer are selected.And the stress analysis for the key structure is carried out to verify the security of the structure.2.The kinematics model of the upper-limb exoskeleton power robot is established,and the forward-inverse kinematics is studied.The workspace is obtained by Matlab,and Adams is used to simulate the CPR process.The Jacobi matrix of exoskeleton is obtained,and the real-time linear velocity and angular velocity of the end effector of the exoskeleton robot are obtained.3.The dynamics model is established by Lagrange’s equation method,the dynamic simulation of exoskeleton is accomplished by Adams,and the torque variation of each joint is obtained,which can provide a better theoretical reference for the control for exoskeleton robot.4.For the upper-limb exoskeleton power robot designed in the paper,the PID control and fuzzy PID control are analyzed,and the control model is set up and simulated by Simulink model in Matlab,the performance of fuzzy PID controller is verified.Then ADAMS and MATLAB are used to do control simulation for exoskeleton,to achieve the functional requirements of the design.The change of the parameters in the pressing process are studied by CPR experiment,and the adjustment strategy of amplitude and frequency are designed,and the practicability is verified by comparing with simulation and experiment.