The Research Of Arm Exoskeleton System For Rehabilitation Therapy

With the development of the society and the great enrichment, persons regard the rehabilitation therapy of the movement functional disorder by neuro ills as a more important thing, so many kinds of rehabilitation device come into being. After the research of the interrelated theory and achievements of preceding scholars, in this thesis, combining the robotic exoskeleton technology, virtual reality technology and remote supervisal and control technology, developed an arm exoskeleton system for rehabilitation therapy.The exoskeleton technology is one of embranchments of the robot technology. It is an external structural mechanism whose joint correspond to those of the human body. The exoskeleton allows direct transfer of mechanical power and information signals. So it very appropriate to use for rehabilitation of those movement functional disorder persons. In this thesis, designed and manufactured a 3 DOF arm exoskeleton for rehabilitation therapy, if the impatient in passive rehabilitation therapy, the exoskeleton can drive the human upper-limb in three motion: shoulder flexion-extension motion, shoulder adduction-abduction motion and elbow flexion-extension motion; if the impatient in positive rehabilitation therapy, the exoskeleton move with the human upper-limb. The exoskeleton use step motors as power, and use angle displacement sensors to measure the angle of arm movement.The traditional rehabilitation therapy is bald and stuffy, it not only make the patient impatient, but also play down the effect. But with the interaction and the immersion feeling of the virtual reality, the patient feels like in another virtual world , and can interact with those objects of the world. In this thesis a virtual man and a virtual scene was designed use virtual reality technology, the virtual man lie in the virtual scene, the virtual man can move with the patient, and can roam in the virtual scene, so the rehabilitation become interesting and efficient.Rehabilitation therapy can be done by remote supervisal and control with the Internettechnology. In this thesis, a remote supervisal and control system is designed, it recur to Internet realize the remote manipulation of rehabilitation therapy. This thesis bring forward combining the virtual reality and the remote supervisal and control of the rehabilitation therapy, and then bring forward a way to reduce the Internet delay. By the program, on the one hand, the doctor can remote control the movement of the exoskeleton, and coach the patient to do rehabilitation therapy, on the other hand, the doctor can see the supper-limb movement of the virtual man, which do the same movement with the patient. By this method, we only need to transport three arm position data, avoid to use vidicon feedback system and transport a lot of image data, so reduce the Internet delay.The achievement of this thesis is very beneficial for the further develpment on arm rehabilitation therapy system and the design of the remote supervisal and control program.