The Training Method Of Terminal Rehabilitation Root Based On Doctor Teaching Action

People’s living standards have improved,and so has the demand for rehabilitation,especially the number of rehabilitation medical equipment and rehabilitation physicians for stroke patients is extremely short.Patients need to find a device for active rehabilitation training.The end traction rehabilitation robot has good effect in passive training for patients,but its active training mode is not mature,especially in compliance control,and the traditional end traction rehabilitation robot has less degrees of freedom,so it has some limitations in training space,so it is difficult to imitate the training of rehabilitation doctors.Therefore,rehabilitation robots with compliant control have always been the focus of relevant researchers.Firstly,this paper focuses on the active rehabilitation training of robot,and designs an active compliance rehabilitation training system based on teaching action.Combined with the 7-DOF robot used in this experiment,the kinematics model is established.The control software is designed for the manipulator.Secondly,aiming at the mapping problem between multi DOF Manipulator and human joints,a joint definition method based on similarity measure is designed to match human-machine joints.Then the space vector method is used to learn the robot’s action.Combined with the interpolation method based on 7-5-7 polynomial to make up the Angle,so as to realize the continuous motion of7-DOF manipulator.Then the trajectory smoothing method is used to make the manipulator move smoothly,which provides the rehabilitation trajectory for the follow-up active rehabilitation training.Then,the position based fractional impedance control is added to the rehabilitation manipulator to realize the compliance control.At the same time,Matlab is used for modeling and simulation to select the appropriate fractional order parameters for the fractional order impedance control model.After that,the excellent performance of the fractional impedance controller is verified through the comparative experiment of simulation and real object.Then,the inverse kinematics solution based on elbow adaptive constraint is used to plan the trajectory of the manipulator.Finally,the active rehabilitation training platform of the end tractive 7-DOF manipulator is built.At the same time,designing corresponding software to display the patient’s status in real time.Using the motion learning method and compliance control method in this paper,and this paper collects the rehabilitation training track of the rehabilitation doctor,then let the patients carry out active/passive rehabilitation training,and then evaluate the training results quantitatively.The experimental results show that the rehabilitation training system can help patients gradually improve their motor ability according to the teaching track.The feasibility and importance of7-DOF compliant control robot in human-computer interaction are verified.