Design Of Upper Limb Rehabilitaton Exoskeleton And Research On Inter-cloud System

With the rapid increase in the number of stroke patients and aging population,the problem of upper limb hemiplegia is urgently needed to be solved by society.Although the exoskeleton of the upper limb rehabilitation has been greatly developed,the application and popularization are limited due to poor interconnection and low intelligent level.In order to help the patients with upper limb hemiplegia to carry out rehabilitation training and to solve the problem of regional and time limitation between patients and doctors to achieve remote interaction and training,the Internet technology and exoskeleton technology were combined to design upper limb exoskeleton and study the inter-cloud system.The physiological structure of the upper limbs was studied,and the safety,flexibility and weight of the exoskeleton were considered.The design of the exoskeleton structure for upper limb rehabilitation was realized,which including motor drive of arm and hand joints,gear and connecting rod drive,as well as adjusting and limiting devices,and the rehabilitation of the arms and hands was realized.The finite element static analysis and the modal analysis of the exoskeleton were performed to verify the reliability of the exoskeleton structure.The kinematics modeling,dynamic modeling and virtual motion simulation of the exoskeleton were carried out,and the rationality of the exoskeleton structure design was verified by the results.Internet of things system is the core of exoskeleton control,which connects exoskeleton and inter-cloud system.The whole design of the Internet of Things,three modes of single joint training,joint training and evaluation mode were set up,and the fuzzy PID control algorithm flow design was carried out.The STM32 microcontroller is used as the core of the Internet of Things to select angle sensors and pressure sensors.According to the requirement of Internet of things function,draw the circuit diagram of Internet of things,carry on the hardware installation,and complete the debugging of the whole circuit.Establish exoskeleton cloud interconnection system,study cloud interconnection system,and propose a framework of inter-cloud system based on infrastructure as a service,platform as a service and software as a service.The data tables of patient,physician and exoskeleton are established through MySQL database.Apache and PHP are used as the server of inter-cloud system,and the development and running environment is provided for the software terminal.The HTTP protocol is used as the communication mode of cloud interconnection system.The evaluation method of rehabilitation training was designed by error weighting method.The software of patient terminal and physician terminal was programmed by C and VS.The functions of user registration,login,rehabilitation monitoring,information inquiry,training evaluation and physician order were realized.Upper limb exoskeleton prototype and inter-cloud system were built,and the exoskeleton,Internet of things and inter-cloud system were tested.The client software and the function of server and database were tested,and the whole system runs normally.Upper limb exoskeleton prototype experiment is carried out,and the angle diagram and angle error diagram of arm and hand joint motion are obtained.The results of exoskeleton prototype experiment verify the rationality of the whole design of exoskeleton and inter-cloud system.