Design And Research Of Upper Limb Exoskeleton Robotic Rehabilitation System

With the aging of China’s population and the improvement of people’s living standards,the demand for intelligent rehabilitation training equipment is increasing.At present,rehabilitation robots are mainly expensive imported equipment,and hemiplegic patient often miss the best rehabilitation opportunity because they do not have early rehabilitation training.To solve this problem,based on rehabilitation medicine and human anatomy,this paper designed a 4-DOF lightweight fully driven upper limb exoskeleton rehabilitation robot system.The system can carry out passive rehabilitation training for patients with muscle strength below grade Ⅲ to maintain the upper limb movement ability of patients,and carry out active rehabilitation training for patients with muscle strength above grade Ⅲ to promote separation movement.The main contents of this paper are as follows:(1)Demand analysis of rehabilitation training.Based on the results of literature research and the actual needs of doctors and patients,it is determined that the purpose of this paper is to design a 4-DOF lightweight upper limb exoskeleton rehabilitation robot,which can realize the main upper limb movements of shoulder joint abduction and adduction,lifting and pressing,elbow joint flexion and extension,and forearm rotation in and out.(2)Mechanical structure design of upper limb rehabilitation robot.According to the human upper limb kinematics and human body size standards,the selection of motor encoder and the overall mechanical design of the upper limb exoskeleton robot are completed through calculation.In order to verify that the designed mechanism can realize rehabilitation training,the 3D model assembly of the upper limb rehabilitation robot is completed by using CREO 5.0 software,and the kinematics simulation is carried out by importing ADAMS.The feasibility of multi-degree-of-freedom rehabilitation training was verified by simulation,and the prototype was finished.(3)Rehabilitation robot control system design.The hardware platform of computer control system of upper limb rehabilitation robot was built by Maxon motor and Copley driver.The position speed and current three closed-loop control system is adopted,and the debugging results verify that the control system has good control precision.The software uses C# programming,through Sql Server database to achieve the management of patient information,doctor information and rehabilitation training information,realize the combination of rehabilitation and evaluation..(4)Prototype elbow joint test.After the completion of the system design,volunteers were recruited to simulate patients in the stage of paralysis,spasm and muscle strength above grade Ⅲ to conduct major functional tests on the elbow joint of the prototype.According to the test results,the upper limb rehabilitation exoskeleton robot training system in this paper can carry out active and passive training for patients,and patients can choose appropriate training according to their own situation to improve rehabilitation efficiency.