Design Method And Control Strategy Research On Upper Limb Rehabilitation Robot With Human-machine Interaction Capability

Giving rehabilitation robots good human-machine interaction capabilities and realizing rich rehabilitation control strategies are not only the needs of hemiplegic patients,but also the goals of researchers’ continuous exploration,and are currently hot issues in the field of rehabilitation engineering.This paper utilizes the knowledge of modern rehabilitation medicine theory,human upper limb anatomy,advanced control theory,computer science,robotics and electronic engineering,etc.The research focuses on how to establish a rehabilitation robot design method and control strategy with human-machine interaction capability,and develops a seven-degree-of-freedom upper limb exoskeleton rehabilitation robot system,and the main research work includes.(1)Combining the knowledge of human upper limb anatomy,computer science and electrical engineering,a software system design method that can effectively stimulate human upper limb movement intention,a mechanical system design method that matches human upper limb joint movement characteristics,and an electrical system design method based on Ether CAT communication protocol that can accurately obtain the robot joint torque in real time,which in turn forms the overall design method of the upper limb rehabilitation system and provides hardware guarantee for realizing a good human-robot interaction rehabilitation control strategy.(2)Modeling the kinematics and statics of the rehabilitation robot based on robotics theory,analyzing the motion law of human upper limb joints,establishing the model of human upper limb wrist part posture and rotation angle based on xgboost algorithm,and solving the anthropomorphic inverse kinematic analytical expression of the rehabilitation robot.Based on the characteristics of the joint transmission chain and robotics theory,a simplified gravity model of the rehabilitation robot is established,and a gravity compensation method for the body of the rehabilitation robot based on the main dynamic force is proposed,which provides a theoretical basis for the accurate acquisition of the human-robot interaction moment and the identification of the human upper limb motion intention.(3)Based on the resulting inverse kinematic algorithm and gravity compensation algorithm,three human-robot interaction control strategies,passive,cooperative and active,are proposed for the designed upper limb rehabilitation system in combination with the modern rehabilitation medicine’s motion relearning theory.(4)Experimental studies were conducted to evaluate the accuracy of gravity compensation and verify the effectiveness of the interaction control strategies.The experimental results show that the design method and control strategies of the rehabilitation robot system proposed in this paper have the human-computer interaction capability required for rehabilitation training.