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Research on motion capture of upper limb rehabilitation robot

Aiming at the safety and wearable coupling problems existing between the exoskeleton upper limb rehabilitation robot and the patient, especially the difference between the patient's arm posture and the exoskeleton rehabilitation robot's movement, a method based on MEMS sensor information fusion to monitor the arm movement posture was proposed. In order to express the position and attitude of the arm in space, the coordinate system model of the arm joint is constructed, and quaternions are used as the expression method of attitude solution. The hardware system uses the IIC bus to connect the sensor nodes and SPI bus to connect the sensor and microcontroller. Mahony algorithm is used to solve the attitude in the software system. Experimental results show that this algorithm can solve the pose information well, and the safety and motion coupling of the upper limb rehabilitation robot can be improved by monitoring the arm joint model.