Portable Elbow Joint Rehabilitation Training Robot

Hemiplegia resulted from stroke and other neurological diseases often leads to upper limb movement disorders to patients.It seriously affects people's daily lives and brings varying degrees of pressure and burden to patients themselves and their families,the society will be adversely influenced as well.The athletic function of the elbow joint is involved in the human body's upper limb flexion/extension,pronation/supination and other activities,thus it has a great practical significance for its rehabilitation training.The design of portable elbow rehabilitation robot combined with a variety of rehabilitation training modes,can promote the remodeling of nerve function in patients,as well as solve the problems such as the tedious process of rehabilitation training,too much consumption of physician resources and cost.In this paper,a portable elbow joint rehabilitation training robot is developed after analyzing the background meaning and principle of the elbow joint rehabilitation training.The robot uses lithium battery pack as the energy source,and a reasonable rehabilitation training mode was devised.The wearable IMU sensor module is used for the patient to independently carry out the rehabilitation training.The system adopts an AC servo motor with harmonic reducer as the driving source of the rehabilitation training mechanical structure,integrated with indispensable human-computer interaction functions,and finally the design of the whole system was accomplished.On the hardware level,the system control center takes the STM32F407 micro-controller as the core.Designs including the lithium battery management,power supply circuit,IMU sensor,drive of servo motor,OLED display,voice broadcast,Bluetooth communication and other module functions were completed.On the software level,based on uC/OS-II real-time operating system,the control center completes these implementations combined with the hardware circuit,including the estimation of remaining capacity of lithium battery(SOC),analysis of IMU sensor data,servo motor control,rehabilitation training mode switch and a variety of interactive functions.By making full use of the advantages of uC/OS-? real-time operating system,and reasonably scheduling and controlling each module circuits,the communication between tasks and data exchange was completed,which guarantees the stability and reliability of the entire system when running.On the basis of the comprehensive debugging of the whole system involving hardware and software,the follow-up performance of the limbs in the patient's autonomous training was tested by experiment in this paper.The feasibility of the portable elbow joint rehabilitation robot was verified in the end.