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Study on the Measure and Control System for Robot by the Rehabilitative Training with the Forepart of Stroke

Author: CuiXiaoLei
Tutor: ChenZuoMin
School: Changchun University of Science and Technology
Course: Mechanical Manufacturing and Automation
Keywords: Rehabilitation Robot Measurement and Control System Data collection Data Processing
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 112
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Abstract


Rehabilitation robot rehabilitation equipment at home and abroad a hot research . Based on early stroke rehabilitation robot R \u0026 D needs , the paper developed a rehabilitation robot control system. In this paper, attitude matrix method and the Euler angle method deduced rehabilitation robot end-effector analytical attitude , first using three-dimensional motion capture system collected rehabilitation exercise discrete data points , then abnormal data point processing , least squares curve fitting together , rehabilitation trajectory pose solving , rehabilitation trajectory extract obtained rehabilitation robot pose control information. In MOTOMAN HP3 robot control system and VC -based rehabilitation training developed for robotic control system. Tests showed that the rehabilitation training robot control system can be a smooth , complete reproduction rehabilitation trajectory, rehabilitation robot can replace physicians for patients with effective rehabilitation.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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