五自由度上肢康复机器人力辅助控制的分析-analysis of force - assisted control of 5 - dof upper limb rehabilitation robot.docxVIP

AbstractThetechnologyofroboticshasgraduallyfloodedineverycornerofourlifeanditsapplicationinthemedicalfieldisbecomingoneofhotnativeandabroadsubjectinrecentyears.Afterlearningthebasictheoryofrehabilitationtrainingforhemiplegiaupper-limbandstudyingthemechanicalstructuralfeatureoftherehabilitationrobot,thissubjectanalysesthekinematicsandstaticdynamicoftherobot,buildtheforcecontrolmoduleandrealizetheinitiativeforceaidedrehabilitationtrainingfortheupper-limbhemiplegiapatient.Thepurposeofthissubjectenforcesthemotionwillofthepatient,raisethepatients’motionpositivityandconfidence.Thissubjectanalysesthemechanicalstructuralfeature,thenbuildthekinematicsmoduleandsimulatetovalidatethekineticmodule.UsinggeometrymethodtoanalysestheinversekineticmoduleandutilizingdifferentialtransformationmethodtogettheJacobinmatrix,whichindicatesthedifferentialrelationbetweentherobotterminalvelocityandeveryjoint’sangularvelocity.Thissubjectalsoestablishesthestaticdynamicmodule,onwhichtheforcecontrolbase.Thissubjectthenestablishesthetorquesensormodule.Itfixesthemagnitudeanddirectionoftheforceexertedontheterminalendoftherobotaccordingeveryjoint’sangleandangularvelocitythatwascollectedreal-time.AfteracquiringtheinverseJacobinmatrix,thesubjectdeducetheforcecontrolmodule,whichenabletherobotterminalendtomovefollowingtheforcebydrivingeveryjointatcertainangularvelocity.Accordingtheforcecontrolmodule,theprogrammeisfinished.Thesoftwarecanrealizenotonlythesinglejointforceassistrehabilitationtrainingoftheshoulderabduction/adduction,shoulderflexion/extension,elbowflexion/extensionandwristflexion/extension,butalsothemultijointforceassistrehabilitationtraining.Theexperimentiscarriedoutbyhealthypeoplefinally.Themotionparameterrecordedinsingleandmultijointtrainingexperimentprovesthatthesystemworkswell,therobotkeepsmovingfollowingtheforceattheterminalend.Italsoprovethevalidityoftheforceassistedcontrolmoduleandtheforceassistedtraining.Keywordsrehabilitationrobot;hemiplegiaupperlimb;forcecontrol；kinematics；staticdyna