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Research on Controller and Experiment of the Arm Rehabilitation Robot

Author: ZuoJie
Tutor: WangZuo
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: arm rehabilitation robot control strategy hardware-in-the-loop simulation experiment research
CLC: TH789
Type: Master's thesis
Year: 2007
Downloads: 504
Quote: 4
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Abstract


The therapy technology of hemiplegia rehabilitation aided by robot has gradually acquired the recognition of the native and abroad researchers, and it is becoming one of the hottest subjects. The difficulties of these studies mainly focus on how to realize the training means of rehabilitation via robot controlling. Since the study in the field of rehabilitation engineering in our country is inchoate, the research is practical.This paper systematically overviews the development situation and application of the upper limbs rehabilitation robot. Together with the organ design and control mode, it analyzes the feasibility of the aided-robot for upper-limb-motor rehabilitation and the way to realize it. The concrete researches are as follows:According as the application objects and hemiplegia rehabilitation theory, it is confirmed the design arm and the control system scheme. The key technologies of the robot system are studied and presented, including the security design, the characteristic of the force sensor, the influence caused by the transmission organ toward the control precision. At the meantime, it calculates the motion region of robot’s operation arm using the MATLAB. On the basis of above, it confirms the control algorithm and the strategy of rehabilitation robot. The robot can basically accomplish the trajectory tracking, force teaching and reappearance, impedance control adopting the force outer loop and resistance motion. The material methods of the four kinds of training mode are respectively achieved, and the control model is established.Based on the dSPACE real-time platform, the HIL simulation is designed. Here the robot system is located in the control loop. The control model actualizing all kinds of modes, force signal model and position initialization model are all translated into the simulation models. These models are independent to each other and relate the Simulink with the RTI. Finally, through training the healthy subjects by robot, the feasibility of rehabilitation training with robot’s aid is proved elementarily. With the control parameters momentarily adjusted and the feedback information, the results of the experiments are attained. Then the results are analyzed and estimated.

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