The design of a new upper limb rehabilitation robot system based on multi-source data fusion

The aim of the paper is to develop a upper limb rehabilitation robot system (DPRs) capable of making both patient assessment and robot-aided assessment. Using the rehabilitation robot system, patients can repeatedly train in high efficiency and can replicate many of the human training. In the paper. First a diamond rehabilitation robot(DR)was designed and its model was also given. Then an evaluation unit to improve patient assessment based on multi-source data fusion tecnology was proposed, the evaluation unit mainly was used to yeild a qualititative value based on the quantitative analytical models, and then according to the qualititative value of the performance evaluation and active index, a resistance/assistance control strategy was designed to realize rehabilitation training more effectively. Finally the rehabilitation robot´s control system was simulated and analyzed. Experiments showed that the DPRs purposed is helpful for the disabled patients and it can coordinate and train the patient´s upper limb comfortingly and safely, and also has dynamic performance and high flexibility.