Control System Design of Upper Limb Rehabilitation Robot

Abstract:

In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.

• Periodical: Applied Mechanics and Materials (Volume 310)
• Pages: 477-480
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.310.477
• Online since: February 2013
• Authors: Gang Yu, Jin Wu Qian, Lin Yong Shen, Ya Nan Zhang
• Keywords: Fuzzy PID, Impedance Control, Kinematic Analysis, Kinetic Analysis, Rehabilitation Robot, Rehabilitation Training

References

[1] Yi Yongfeng, Research on the Structure Design and Control System of Arm Rehabilitative Robot. Harbin Engineering University.(2004)

[2] B.-C.Tsai, W.-W.Wang, L.-C. Hsu, ect. An Articulated Rehabilitation Robot for Upper Limb Physiotherapy and Training. The 2010 IEEE/RSJ International Conference. 1470-1475

DOI: 10.1109/iros.2010.5649567

[3] Mihaly Jurak, Andras Toth, Gabor Fazekas, Monika Horvath, An Approach to Consider Upper Limb Kinematics for the Improvement of Motion Control in a Two Arm Robotic Rehabilitation System. Proceedings of the 2007 IEEE 10th International Conference, 274-282.

DOI: 10.1109/icorr.2007.4428438

[4] Jianhui Wang, Xing Li, Xiaoke Fang, Liang Dong, Single-joint Repetitive Control of Upper-limb Rehabilitation Robot. 2010 IEEE, 1330-1333.

DOI: 10.1109/ccdc.2010.5498183

[5] Jiang Xianzhi, Xiong Caihua, ect. Fuzzy Hybrid Force-Position Control for the Robotic Arm of an Upper Limb Rehabilitation Robot Powered by Pneumatic Muscles. 2010 IEEE,978-1-4244

DOI: 10.1109/iceee.2010.5661226

[6] Andrzej Michnik, Jacek Brandt, ect. Control System for a Limb Rehabilitation Robot, Springer-Verlag Berlin Heidelberg 2010, AISC 69, p.423–430.

[7] Guozheng Xu, Aiguo Song, Adaptive Impedance Control Based on Dynamic Recurrent Fuzzy Neural Network for Upper-limb Rehabilitation Robot, 2009 IEEE,1376-1381.

DOI: 10.1109/icca.2009.5410286

[8] P. Zimmermann, Volkswagen AG, Wolfsburg, Germany, Springer Science + Business Media B.V. 2008, 277-296.