Design And Simulation Of The Shoulder Rehabilitation Training Equipment And Protective Devices

With the development of social economy and medical science, mortality in patients with stroke and other injuries decreased, while sequelae and dysfunction in patients gradually increased. At the same time the process of aging makes age-related diseases and the sharp rise rapid. So people’s requirements for medical service are no longer limited to the level of aid, but in favor of more emphasis on functional recovery. Most hemiplegia rehabilitation requires a system, orderly continuous and long-term rehabilitation process, so the current urgent problems is research and development one upper limb rehabilitation equipment for community and home. The most important thing for rehabilitation equipment is t security and reliability, the purpose of this study is to develop a shoulder rehabilitation equipment and protective devices.Firstly, research and analysis in the medical rehabilitation theoretical basis, including brain remodeling theory and motor relearning program. Bionic mechanism departure from the body, for the rehabilitation robot designed a 4-RRRR shoulder joint mechanism. The shoulder joint mechanism designed for upper limb rehabilitation robot exoskeleton, having the same space with human shoulder joint. Drive mode is selected as pneumatic artificial muscles, pneumatic artificial muscle is a compact, flexible, light weight, simple, easy control of bionic products, which make sliding movement driven by compressed air, the process is similar to the body’s muscles. It enabled the organizations motion with good flexibility, improve the comfort for patients.Because of the nonlinear pneumatic artificial muscles causes the range of motion of the shoulder joint mechanism is difficult to precisely control, but the most important for medical rehabilitation robot is safety. This article designed one separate protection device for the 4-RRRR shoulder joint mechanism, all parts of the lever means are assembled in the house box so the protective device looks simple and easy to install. Pneumatic artificial muscles provides a flexible shoulder movement power, rigid protective device can be precisely controlled the range of motion of the shoulder joint mechanism, security measures from software and hardware prevent secondary damage to the patient.In order to analyze the effect of the motion mechanism and prevent the waste of resources from multiple processing prototype, finally we build a complete three-dimensional model in SolidWorks and assembled into a virtual prototype. Use SolidWorks Motion plug to do the motion simulation, referring to rehabilitation physician training program, the simulation is divided into single-input, dual input and a composite motion three cases. Motor curve using the data points analog the pneumatic artificial muscle’s nonlinear input. Finally, output motion data and motion simulation animation. Compared the motion data and human shoulder data, kinematic range of motion is consistent with the scope of the human shoulder. Motion animation intuitively displayed the simulation results, institution has good movement flexibility.