Research on a rehabilitation robot using industrial robot arm
| Autor: | Jian-Sheng Wang, 王建升 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 In the case of insufficient medical system personnel, the use of automation equipment is gradually used to reduce the burden on medical personnel. In terms of rehabilitation, usually diagnosed by a doctor and given rehabilitation training, that can be replaced by automated equipment. This thesis will establish some of the open functions provided by the manufacturer, the industrial robot arm with this function, the motion control for immediate correction, and apply this structure to the auxiliary device for rehabilitation. The patient pushes the robot arm during the rehabilitation process. Reciprocating movements such as stretching and flexion and extension, the robot arm performs relative compliance movement and speed according to the strength information measured by the sensor and the planning of the rehabilitation training mode, and achieves the treatment planned by the rehabilitation teacher. This system uses a set of aid-based training systems that can be switched to different state-required modes based on current patient use, and are divided into three different training modes depending on the level of robotic intervention to accommodate patients in three different states. This paper provides three modes of control strategy design, as well as switching between modes to operate. Finally, the design of the compliant motion control system will be carried out. The experimental results of the controller operation will be compared with the reference literature, and the experimental results of multiple operators will be used to verify the feasibility of the rehabilitation robot established in this paper. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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