Design And Control Of Position And Posture Maintaining Rehabilitation Training Robot For Human Upper Limbs

The human upper limb rehabilitation robot is a combination of robotics,physiology,computer science and other disciplines.It has a huge potential market in medical rehabilitation training and has great scientific research value.Based on the background above,this paper proposes a design goal of lightweight structure and diversified functions,and designs the mechanism and control system around the design goal.Firstly,focusing on the design goal of lightweight structure,combined with the quasi-anthropomorphic design method of the upper limbs of the human body and the motion design requirements of posture-preserving rehabilitation training,a lightweight design scheme for joint arrangement based on greedy algorithm is proposed.In the comprehensive design,the adjustment mechanism and the human-computer interaction mechanism are designed,and the basic configuration scheme of the robot and the specific3 D model design are finally determined,and the quality parameters are extracted.Secondly,based on the proposed robot configuration,kinematics forward and reverse solutions,velocity analysis,singularity analysis,workspace analysis,and humanmachine compatibility analysis combining the size of the upper limbs of the human body and the design size of the robot configuration is carried out.The trajectory planning interpolation method for the rehabilitation training robot and the extraction method of the intermediate trajectory feature points are studied,and the robot statics and dynamic models are analyzed.Thirdly,based on the proposed robot configuration and analysis of kinematics and mechanical properties,a system simulation module including a mechanical system simulation module and a human-machine contact interaction module for the upper limb rehabilitation robot control system is designed;a position control of robot based on the cascade PID control algorithm is carried out;with apply of impedance compliance control theory,the subjective motion control model of the human upper limbs and virtual impedance control model with parameter planning algorithm of robot are established;a human upper limb motion prediction module is built,and rehabilitation modes in trajectory agreement and interactive work perspective are implemented.Finally,simulations of the human-robot force/position interaction system of the upper limb rehabilitation training robot are carried out.Detailly,simulations and verifications of kinematics and mechanical properties are carried out;simulations and performance analyses of each module in the control system are carried out;performance test model of the human-machine force/position interactive rehabilitation training system are built;simulations and performance analyses of rehabilitation modes designed for different rehabilitation training stages are carried out.