毕业论文课题相关文献综述
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.
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