| Stroke is a common clinical acute cerebrovascular disease,and its consequences include patients losing their ability to move their upper limbs,which has a significant influence on their quality of life.Repetitive rehabilitation training based on brain plasticity has been shown in clinical medicine to efficiently recover motor function in patients with injured limbs.Traditional hand-held rehabilitation training methods are difficult to fulfill the increasing needs of patients for rehabilitation year after year due to problems such as a lack of medical resources,time-consuming treatment,and a protracted recovery duration.In order to address the aforementioned issues to some extent,a big number of research institutions both at home and abroad have invested in upper limb rehabilitation robot research in recent years,yielding numerous study findings.Existing rehabilitation robots lack flexibility and variety when it comes to meeting the numerous rehabilitation needs of patients(different body kinds or illnesses,individual or combination rehabilitation of different joints,inpatient rehabilitation,and home rehabilitation).In order to address the aforementioned issues,this work develops and implements a modular upper limb exoskeleton rehabilitation robot system that considers three aspects: mechanical construction,interactive force sensing,and compliance control.The following is a summary of the key research findings:(1)A modular upper limb exoskeleton rehabilitation mechanical structure is designed to meet the diversified rehabilitation training needs of the upper limbs of hemiplegic patients.Based on the modular design of the upper limb shoulder and elbow joint structural components,the robot topology reorganization is realized through the rapid disassembly and assembly of different components.The need for rehabilitation of different joints alone or in combination overcomes the shortcomings of existing upper limb rehabilitation robots that cannot rely on a single robot to complete diversified rehabilitation needs due to a single topology.(2)A distributed wearable force sensing device is being developed for upper limb workout rehabilitation.The system uses a panel array and flexible array force sensor to achieve distributed interactive force measurement at the physical human-machine interface,as well as two modular designs(modular sensing unit and modular sensing cuff)to allow the system to be applied to the upper or forearm of different patients with a fixed prototype design.The hardware acquisition system is constructed utilizing multiplexing technology,and the matching software acquisition system is established,based on the structural properties of the array force-sensitive unit of the flexible force sensor.The determination of the real piezoresistive characteristic parameters of the flexible array force sensor,as well as the system reliability verification,are completed by developing a calibration and verification platform.The experimental results reveal that the system measures dispersed pressure with excellent precision and is suited for assessing human-computer interaction force during upper limb rehabilitation.(3)Based on dynamic motion primitives and admittance control,a compliance control system for an upper limb exoskeleton rehabilitation robot is created.On the one hand,dynamic motion primitives are used to learn and represent the trajectory of the rehabilitation action,and the trajectory is reproduced and generalized according to the actual condition of the patient,based on the trajectory data of the instructor’s rehabilitative action demonstration;The projected trajectory,on the other hand,is used as an input to the admittance controller,and compliance control is accomplished on the exoskeleton modules for the shoulder and elbow joints.The experimental results suggest that the control system is flexible and can provide active rehabilitation training that is appropriate for patients with hemiplegia of the shoulder and elbow joints. |
PDF Full Text Request