The force/motion control of the upper limb rehabilitation开题报告

1. 研究目的与意义（文献综述包含参考文献）

Graduation Design (thesis) Open Topic ReportTitle: The force/motion control of the upperlimb rehabilitationNeurological impairments such as stroke cause damage to the functional mobility of survivors and affect their ability to perform activities of daily living. Recently, robotic treatment for upper limb stroke rehabilitation has received significant attention because it can provide high-intensity and repetitive movement therapy.In this project, the passive upper limb rehabilitation training of stroke patients is simulated by the pneumatic upper limb simulation designed by our laboratory, and the adaptive impedance control is designed to adjust at any time according to the patients different conditions. Through the design of adaptive control law, the terminal force can be adjusted at any time according to the patients condition to protect the patient and realize rehabilitation training at the same time. Through the design and study of this topic, students can put forward appropriate control methods for the specific problems of passive upper limb rehabilitation training, which can ensure the smooth progress of rehabilitation training under different conditions.According to the World Health Organization, 15 million people suffer stroke worldwide each year. Of these, 5 million die and another 5 million are permanently disabled. High blood pressure contributes to more than 12.7 million strokes worldwide.The main cause of disability is the high incidence of stroke. In China, it registers two million new cases every year. In this case average about 1.5 million people die every year and three quarters of the survivors have varying degrees of sequelae. The main symptoms are the weakness and loss of the control of the upper limb that arise from nerve damage. This fatal issue causes not only so much suffering and a heavy financial burden for the family, but also attracts huge economic burdens and social problems to the country.With the development of robot technology, the application of robot in rehabilitation has aroused wide concern in the international community. A series of intelligent rehabilitation robots have successfully developed to help patients to achieve functional recovery.In this paper, we firstly introduce the 2 DOF pneumatic drives anthropomorphic arm in our lab. The anthropomorphic arm forms by 6 PAMs, and equipped with 3-dimension force sensor and other sensors. To realize the accurate motion control, an iterative learning control (ILC) is applied to make the anthropomorphic arm follow arbitrary trajectories. Simultaneously, an adaptive iterative learning-based impedance force control is proposed to maintain the stability of the anthropomorphic arm and to acquire the appropriate contact force during the motion.

2. 研究的基本内容、问题解决措施及方案

.1 Modeling of Anthropomorphic Arm and Its Dynamic EquationThe model of the Anthropomorphic Arm in our laboratory consisting of the load, the exoskeleton and an operator is shown in Fig. 1. The upper-limb exoskeleton has 2 DOFs, with the shoulder joint and elbow joint actuated and capable of following the rotations of the corresponding joints of the operator. To simplify the exoskeleton, the human and exoskeleton interaction force is modeled as a spring. The external load is assumed to be a rigid object with a fixed center of gravity. All of joints are realized by roundels embedded with cardan valves and connected with PAMs. The upper-limb is actuated by the muscle synergies of 4 PAMs and the forearm is actuated by another 2 PAMs. In the upper-limb, 4 PAMs form 2 pairs agonist-antagonist muscles as similar as the human arm. The end-effector is equipped with the 3-dimension force sensor (designed and manufactured by State Key Laboratory of Bioelectronics, and showed in Fig. 2 (a) and the IMU sensor, used to measure the forces, positions, angles and angular velocities. Every pneumatic artificial muscle may execute the extension or the flexion via inflating or deflating gases of corresponding SMC pneumatic proportional valve. FESTO SDE1 pneumatic pressure sensors are equipped to measure increments of gases. Through the synergism of toques generated by all PAMs, the end-effector of the anthropomorphic arm may achieve mild reaching movements.The kinematic model of the human arm is illustrated in Fig. 2, and the dynamic equation of the anthropomorphic arm is written as: M(q)q C(q,q)q G(q) = τ - τd .(1) In Eq. (1), M represents the inertia term. C indicates the Coriolis and centrifugal effects term. G(q) is the gravitational item. Τ is the joint torque generated by the synergism of PAMs acting on the elbow joint and the end-effector. τd represents disturbances and perturbations. 2.2 Control Strategies of Upper Limb Rehabilitation2.2.1 Position ControlThe position control is also known as trajectory tracking control. The angular displacement of each joint is determined by the kinematic inversion of the planned trajectory that controls the torque output of the anthropomorphic arm in the process of computer operation to drive the motion of each joint and realize the movement along the planned trajectory.2.2.2 Force ControlEach joint moment sensor captures the motion of the upper limbs of hemiplegic stroke patients in real time. The control system can convert joint to the equivalent force of the end effector according to the characteristics of institutions. Then, the controller can drive it to achieve the multijointed motion of the upper limb according to this equivalent force.2.2.3 Impedance ControlThe relationship between speed and force is called mechanical impedance. The objective of impedance control is to mediate the mechanical impedance of the robot to maintain the ideal dynamic relationship of the contact force and position between the end-effector and the environment. Therefore, robots based on impedance strategy can provide a comfortable and soft touch for patients.