Research on parameter optimization of rehabilitation robot based on human upper limb comfortability

摘要

The existing rehabilitation robot mechanism design only considers the mechanical indexes, and can not characterize the kinematic and dynamic characteristics of the generalized closed-loop mechanism composed of robot mechanism and human musculoskeletal system in the process of physical interaction between robot mechanism and human body. Therefore, this study constructs the coupling simulation platform of human musculoskeletal system and upper limb rehabilitation robot mechanism by combining OpenSim and MATLAB / Simulink simulation software. By studying the force transmission characteristics in the process of human-robot interaction, this paper reveals the variation law between the kinematic and dynamic parameters of the manipulator of the upper limb rehabilitation robot and the human comfortability, which is the evaluation index of human-robot interaction performance. On this basis, the multi-objective genetic algorithm is used to optimize the structure of the upper limb rehabilitation robot. The results show that the upper limb rehabilitation robot with optimized mechanism parameters represents higher comfortability in the process of interaction with human body, which provides an important reference value for the mechanism design of rehabilitation robot.