Design Of Hand Motor Function Evaluation And Rehabilitation Training System Based On ROS

As an important part of hand function,hand motor function is the basis of human life activities.The evaluation of hand motor function can objectively reflect the condition of dyskinesia,which is the first link of hand function rehabilitation work,which is conducive to the rational formulation and precise execution of rehabilitation training program.Hand motor function rehabilitation training is designed to maximize the recovery of hand-damaged motor function and to meet the patient’s daily behavioral needs.At present,the evaluation of hand motor function and rehabilitation training have the disadvantages of relying on the subjective experience of physicians,the inability to quantitatively assess the loss of motor function,and the single mode of rehabilitation training.This paper focuses on the safety,reliability,comfort and flexibility requirements of hand function evaluation and rehabilitation training system.Based on ROS research and development of hand motor function evaluation and rehabilitation training system,the main achievements of the thesis are as follows:1.The design scheme of hand motor function evaluation and rehabilitation training system is proposed.Firstly,the research and analysis of the motor function evaluation and rehabilitation training system design requirements are carried out,and the key technologies of ROS closely related to the design system are summarized.On this basis,the design idea of hand motor function evaluation and rehabilitation training system is put forward.The system architecture is established,and the characteristics of the system are described in detail.2.The design flow of hand motor information perception based on multi-sensor is presented.,and the hand joint information such as finger joint angle and position,wrist joint angle and sEMG signal are collected,and the joint angle equivalent calculation,distance estimation and classification of sEMG signals based on BP neural network.3.The function of hand motor function evaluation and the rehabilitation training system is realized,including the graphical interface design of human-computer interaction,the quantitative evaluation of the hand motor function based on humancomputer interaction,the selection of the evaluation criteria of the hand motor function,and the ROS Gazebo and virtual reality hand motor function feedback rehabilitation training system.4.The test of system reliability and function have been completed.The experimental samples are selected to test and experiment on the accuracy of the evaluation results,the accuracy based on sEMG signal gesture recognition,real-time performance of the system and rehabilitation game functions.The experimental results show that the system has good accuracy,stability and real-time.