Research On Upper Limb Rehabilitation Robot Driven By PAM And Its Evaluation System

In recent years,The number of upper limb injury caused by stroke and traffic is increased year by year,therefore,the demand for rehabilitation equipment has been increasing,this project is based on the actual needs,the development of the three degree of freedom(shoulder out/in the exhibition(passive),elbow flexion and wrist flexion)wearable upper limb rehabilitation arm were based on the laboratory existing single arm booster arm,and the evaluation of rehabilitation exercise control and rehabilitation is researched.This paper has completed the whole system design from rehabilitation structure optimization to rehabilitation exercise control and rehabilitation training evaluation,which has a certain practical application value.The main work of this paper is as follows:Firstly,the research status of rehabilitation robot at home and abroad is discussed,and the background of the project and significance of this research are expounded.The upper limb rehabilitation robot based on wearable is determined,and the wearable assistant mechanism is designed based on the principle of ergonomics.Secondly,the simplified model of upper limb rehabilitation robot was established,and the workspace of upper limb rehabilitation robot was determined by kinematics and dynamics analysis.According to the length of PAM contraction,the effective working space of rehabilitation robot was determined.Then,the active and passive rehabilitation training strategy of the upper limb rehabilitation robot was researched;passive rehabilitation training which designed by angle PD control;active rehabilitation training which designed by three control strategies:force tracking control,impedance control,impedance control based on fuzzy adjustment.Finally,a variety of rehabilitation training methods have been achieved.The theoretical verification is based on MATLAB/SimMechanics.Finally,the corresponding rehabilitation system for upper limb rehabilitation robot was designed,three index was selected to evaluating the effect of rehabilitation,the weight coefficient of each index was based on the AHP(Analytic Hierarchy Process),and finally get the mathematic model of rehabilitation evaluation,evaluation of the completion of the rehabilitation effect of patients which through the early stage to complete rehabilitation cure.