Design and Simulation of Control System for Upper Limb Exoskeleton Rehabilitation Robot

With the development of rehabilitation medicine and robotics, upper limb exoskeleton rehabilitation robot is playing an increasingly important role in the rehabilitation of patients with nerve injury. This study aims to design and simulate an efficient and accurate upper limb exoskeleton rehabilitation robot control system to meet patients' personalized rehabilitation needs and improve rehabilitation effects. The D-H algorithm was used to establish the robot model and carry out kinematics simulation through MATLAB toolbox. The urdf model exported by SolidWorks was verified by visual simulation in Simulink. Experiments show that the robot can smoothly drive the affected limb to complete the set action in passive training, and the tracking error of fuzzy PID control is smaller and more stable than that of PID control.