Design Of Multi-step Synergy Rehabilitation Model Based On Flexbot Rehabilitation Robot Platform

In the course of a stroke episode,some areas of the brain cannot supply blood properly,which leads to loss of brain tissue in a certain part and causes motor dysfunction such as hemiplegia.The combination of rehabilitation robot technology and virtual reality technology provides patients with new means of rehabilitation training,through the dual path of visual feedback and repetitive gait training to accelerate the reconstruction of brain motor function areas,thus achieving better rehabilitation.There are still some shortcomings in the Flexbot lower limb rehabilitation robot,such as single recovery mode,virtual robot and lower limb rehabilitation robot movement do not cooperate.In response to these problems,this topic designed and implemented a multi-step collaborative rehabilitation model.The main work content can be divided into: the construction and verification of the data simulation platform,the realization of the three gait mode motion functions and the realization of the synergy between the virtual characters and the rehabilitation robot.The construction and verification of the data simulation platform can be divided into two parts.The first is the acquisition and processing part of the gait data.The inertial sensor is used to collect the motion data of the hip joints,knee joints and ankle joints of the lower limbs in different groups,and the filtering and curve fitting are performed.The second part is the construction part of the simulation platform.The motion model of the humanoid robot is built by the SimMechanics simulation module of MATLAB,and the collected motion information is input to verify the motion data of various gaits.The Flexbot lower limb rehabilitation robot system drive motor uses the Yaskawa servo motor architecture to design the ladder program for Yaskawa’s operation for the characteristics of the three gait modes.Based on Visual Studio,the control software of the lower limb rehabilitation robot is designed to realize three rehabilitation movement modes.The motion coordination part of the virtual character and the rehabilitation robot,wherein the virtual reality scene is mainly designed by Unity3 D software.The lower limb rehabilitation robot sends the gait rehabilitation training to the patient,and transmits the running angles of the hip,knee and ankle joints of the real-time lower limb rehabilitation robot to the upper computer program through the serial port transmission method,and the upper computer program receives each according to the received procedures.The angle information of the joint enables real-time driving of the virtual character.The virtual character can also achieve the effect of immersive training by responding to the corresponding exercise,thereby forming a visual feedback to the patient and achieving a better rehabilitation effect.Finally,after testing,the maximum error of the actual angle and input angle of the three gait movement modes of the lower limb rehabilitation robot is less than 1.5°,and the delay time of the virtual character and the lower limb rehabilitation robot is about 170 ms,which basically achieves the intended goal of this study.