Research Of Upper Limb Rehabilitation Comprehensive Evaluation Method Based On Intuitionist Fuzzy Set

With the tendency of aging population and increasing proportion of stroke-suffering people, there is an extensive concern on the research of the upper limb rehabilitation robot systems which assist physicians in performing rehabilitation training to patients. Recently, most of the researches on the upper limb rehabilitation robot systems concentrate on the machine design and motion control. Upper limb rehabilitation comprehensive evaluation methods combined with the upper limb robot and medical theory exist in a immature form and the design and implementation of upper limb rehabilitation comprehensive evaluation system is still rare. According to the practical issues exist in the upper limb rehabilitation robot, the thesis presented an upper limb rehabilitation comprehensive evaluation method based on intuitionist fuzzy set theory to solve the evaluation issues with subjective and objective indicators automatically. And it fulfilled the systems designing and developing according to the method. The main contents are as follows:(1)The rehabilitation indicators system was based on the clinical medical theory of upper limb rehabilitation and 5-DOF upper limb rehabilitation robot’s structure features. Then the collection method, quantitative criterion and conversion method to intuitionist fuzzy set of those indications were analyzed.(2) The thesis built the upper limb rehabilitation comprehensive evaluation model based on intuitionist fuzzy set theory which settled several practical questions. In this research, Fuzzy Measure theorem was used to express the interrelated indicators. The theories of interval estimation and correspondence matrix in which the elements were interval measured values were used to calculate quantitative indicators’ contribution degree. Analytic Hierarchy Process Method was used to calculate qualitative indicators’ contribution degree. However, there were some problems in existing AHP, such as the ranking inconsistency of the comparison matrix, the basic inconsistency of the comparison matrix and the cases of incomplete matrix. Considering all problems above, the thesis put forward several methods to improve the existing AHP. The pervasive Intuitionist fuzzy Choquet integral operator was used to aggregate indicators for comprehensive analysis. Approaches of solving clinications inconsistency was designed by analyzing Intuitionist fuzzy set’s distance.(3) The upper limb rehabilitation comprehensive evaluation system was designed based on the comprehensive evaluation model. Algorithms of method function modules were designed based on the model using C# language mixed with Matlab and C++. The system could evaluate the rehabilitations of dyskinesia, reflect function, shoulder function, elbow function, forearm function, wrist function and the degree of pain. And the above seven evaluation items were integrated to give a comprehensive rehabilitation evaluation. All the evaluation results were stored in the database, which contributed to track records of the whole rehabilitation process.Through the testing experiment on real patients, the evaluation results reported by upper limb rehabilitation comprehensive evaluation system were consistent with clinical rehabilitation clinicians’ ones. It verified the feasibility of the promoted upper limb rehabilitation comprehensive evaluation method which could evaluate the rehabilitation of the patients comprehensively, objectively and quantitively. The system could play an important role as a guidance and feedback on the rehabilitation training.