Research On Multi-degree-of-freedom Upper Limb Neurological Rehabilitation Robot

At present,the aging of the population in my country has led to a sharp increase in the number of stroke patients with hemiplegia.With the improvement of living standards,the needs of patients for rehabilitation are also increasing.However,the number of rehabilitation therapists in my country is seriously insufficient and most rehabilitation devices on the market are expensive.Based on this background,based on the principles of stroke rehabilitation medicine,this paper designs a multifunctional neurological rehabilitation system for the upper limb rehabilitation of stroke hemiplegia patients by analyzing the structural characteristics of the upper limbs of the human body and combining the research status at home and abroad and the clinical experience of doctors.robot.The upper limb rehabilitation robot can assist stroke patients to carry out three-dimensional rehabilitation training,so that more patients can improve and restore limb function.The main work and research results of the paper are as follows:(1)The paper firstly starts from the causes of hemiplegia caused by stroke and that exercise training can promote the plasticity of the nervous system after stroke,indicating that rehabilitation exercise training has positive significance for restoring the limb function of stroke patients.At the same time,this paper analyzes the anatomy of the upper limbs of the human body,and elaborates the structural characteristics and motion forms of the joints of the upper limbs,which provides ideas and guidance for the design of the upper limb rehabilitation robot system.(2)Starting from the safety,comfort,scientific nature of motion planning,and the versatility and economy of the device,the mechanical structure of each part of the multifunctional upper limb neurorehabilitation training robot is designed.The robot has five freedoms.It can assist the human body to realize the seven-degree-of-freedom movement of the upper limbs.One driving element is used to realize the two-degree-of-freedom movements of the shoulder and elbow joints,which reduce the number of driving elements,and the gravity compensation mechanism is designed to reduce the driving power and energy consumption.(3)The kinematics and dynamics calculation analysis of each part of the mechanism is carried out,which provides a basis for the selection and parameterization of the motor.The positive kinematics model of the upper limb rehabilitation robot is established,and the motion space of the rehabilitation robot is solved and analyzed based on the Monte Carlo method.At the same time,the kinematics and dynamics simulation analysis of the rehabilitation robot is carried out on ADAMS,which ensures the stability of the movement process and the rationality of the selection of driving components.(4)The upper limb rehabilitation robot control system is constructed,and the control strategy of outer loop admittance and inner loop PID is adopted.Corresponding rehabilitation modes are designed for different rehabilitation stages of patients,and the design of humancomputer interaction interface is completed based on the integrated touch screen of MCGS.(5)According to the designed 3D model,the physical experiment prototype of the upper limb rehabilitation robot was built,and relevant experiments were carried out.The experimental results proved that the rehabilitation robot can well realize single-joint and multi-joint rehabilitation training,and verified the rationality of structural design and control system construction of the upper limb rehabilitation robot.