基于气动肌腱的可穿戴模块化柔性上肢康复机器人与控制系统设计OA

Aiming at the problems of relatively fixed structure and lack of flexible reconfigurability of upper limb rehabilitation ro-bots at home and abroad,a wearable modular flexible upper limb rehabilitation robot based on pneumatic tendon was designed.The device realized flexible rehabilitation goals through the combination of flexible power module and flexible fixed module.Firstly,in order to overcome the problem of high nonlinear degree of pneumatic tendon,a pneumatic tendon tension test bench was designed,and the coupling model between pneumatic tendon tension,intracavity pressure and contraction was obtained through experiments.Then,the kinematic and dynamic model of the device was established,and the control system was built by Simulink software,and the co-simulation and optimization was carried out with Adams software.Then,STM32 microcontroller unit was used to build the hardware circuit of each module of the control system.Finally,the physical prototype was built and the reha-bilitation data was collected and analyzed by the electromyogram sensor,which can achieve the expected active/passive rehabilita-tion goals and verify the effectiveness of the robot.