Abstract
AbstractIn order to promote the rehabilitation of upper limb function of patients suffering from stroke, a homogeneous and homogeneous master-slave upper limb exoskeleton rehabilitation robot was designed based on the principle of human biology, and a fuzzy adaptive PID control method strategy based on the joint position was proposed for the problems such as the robot slave arm precisely following the motion trajectory of the master arm; secondly, the kinematic model of the robot slave arm was established by using the improved D-H method, and a workspace simulation based on the Matlab robot toolbox was performed. The robot toolbox of Matlab is used for workspace simulation. And Simulink/Simscape Multibody was used to realize the simulation experiment of exoskeleton motion control to verify the effect of slave arm trajectory following using fuzzy PID control method. Experiments show that under the same conditions, the proposed control algorithm can track the main arm motion curve more quickly and accurately than the traditional PID algorithm, and the trajectory is smooth and stable without obvious jitter, and the passive rehabilitation training effect is good.KeywordsMaster-slaveUpper limb exoskeletonFuzzy PID controlTrajectory trackingModeling simulation
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