An Evaluation Method For The Upper Extremity Rehabilitation Robot

With the introduction of robot automation technology to clinical training in rehabilitation medicine, the quantitative evaluation of muscle strength and targeted training program based on rehabilitation robot platform have became research Highlight in rehabilitation medicine. In order to solve these problems, a quantitative evaluation method for the contralateral limb characteristic provides quantitative assessment of muscle strength, we also conducted experiment for computing the elbow moment and related muscle strength of hemiplegic upper limb modeling in patients, and then we evaluated effect of different training tracks for the mechanism of hemiplegic patients. These main results in this paper are as follows:1. Including the tendency of rehabilitation industry, demand for clinical practice and basic theoretical research, we firstly introduced the status of rehabilitation medicine and the development in the future, then we analyzed quantitative evaluation model of muscle strength and confirmed the value of clinical application, which are based on problems that are the most frequently mentioned in Rehabilitation research.2. We proposed a kind of quantitative evaluation method which is based on contralateral limb physiological characteristic; we also have finished kinematics and electromyography evaluation tests on upper limb of clinical hemiplegic patients compared to upper limb movement kinematics and electromyography characteristics of healthy group of in a comprehensive analysis. Experimental results prove that the healthy sides of hemiplegic patients have higher correlation with the physiological characteristics of healthy people which are markedly different from another side of patients. We could get evaluation method in which physiological parameters can be used on the contralateral upper limb.3. Based on the evaluation method which is based on contralateral limb physiological characteristic, we proposed an EMG-driven musculoskeletal model to estimate muscle forces and elbow joint moments in patients, we made models of affected limb muscles and elbow joint in patients and counted muscle strength and moments by this model. The model adopts physiological measures of contralateral limb in patients to be calculated parameters in order to estimate affected limb muscle strength and moment. This EMG-driven musculoskeletal model will be the effective assessment methods for clinical quantitative evaluation of muscle strength.4. Using a quantitative relationship between the training track and activation of upper body muscles,we calculated the trajectories and EMG features of patients during the training mission in order to make a scientific, targeted rehabilitation of track design, which could provide different training track to different patients.In this paper, our research objective is to build the quantitative evaluation based on the robot training platform, we completed theoretical analysis and experiment verification on three related subject, including the evaluation method which is based on contralateral limb physiological characteristic, the quantitative evaluation of residual muscle strength and trajectory analysis, finally formed a complete quantitative evaluation system.