Development and research of upper limb rehabilitation device based on pneumatic tendon hybrid drive(PDF)
《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]
- Issue:
- 2019年第8期
- Page:
- 950-956
- Research Field:
- 医学信号处理与医学仪器
- Publishing date:
Info
- Title:
- Development and research of upper limb rehabilitation device based on pneumatic tendon hybrid drive
- Author(s):
- GAO Dadi; ZOU Renling; WANG Qiming
- School of Medical Instrument and Food Engineering, University of Shanghai for Science of Technology, Shanghai 200093, China
- Keywords:
- ; Keywords: upper extremity exoskeleton; pneumatic tendon; kinematics analysis; dynamics analysis; control system
- PACS:
- R318
- DOI:
- DOI:10.3969/j.issn.1005-202X.2019.08.017
- Abstract:
- Abstract: Objective To design an upper limb rehabilitation device driven by pneumatic tendon hybrid drive which can increase the flexibility of the rehabilitation training device and reduce the likelihood of the secondary injury in rehabilitation training, as well as take the pursuit of rapid and high-efficiency rehabilitation of the shoulder joint in consideration. Methods Firstly, the range of motion angles of the upper limbs was determined according to human factor engineering, and the forward kinematics was solved by D-H method, thereby obtaining the motion trajectory of the end of exoskeleton. Then, dynamics modeling and analysis were performed, so as to determine the torque required to drive each joint. Finally, a reasonable control system was designed, and the mathematical model of each joint motion of the device was established, and the rationality of the control system was verified by Matlab/Simulink simulation. Results The motion trajectory of the end of exoskeleton, joint motion angle and driving torque of upper limb rehabilitation device driven by pneumatic tendon hybrid drive were obtained, and the control system of upper limb rehabilitation device was realized in the study. Conclusion The result provides a good reference for the upper and lower machine program of the control system of upper limb rehabilitation device driven by pneumatic tendon hybrid drive and has guiding significance for the development of training equipments for upper limb rehabilitation.
Last Update: 2019-08-27