Study On Physical Rehabilitation And Postural Control Strategy

With the prosperity of the global economy and the acceleration of the aging process of the population,the number of injury,such as disability,nerve injury,limb disability,caused by cardiovascular and cerebrovascular diseases,modern transportation vehicles,sports injuries,etc,is increasing day by day.It has seriously affected the health level of the whole society.The National 13 th Five-Year Plan clearly pointed out that it is necessary to speed up the development of intelligent manufacturing projects and focus on the development of robotics,new materials,biomedicine and high performance medical devices.Those also show that the development of rehabilitation training robot is of great significance to social health and national development.Rehabilitation robot,as a new branch of robot,uses the theory of Sports relearning theory to carry out precise,stable and scientific specific training for patients with limb disability,so as to help patients recover the function of limb movement.As a complex and interrelated system,the rehabilitation training of every part of human body is affected by many factors,and the posture used in the training will also affect the training effect.Therefore,in this paper,the patients with limb motor dysfunction were selected as the object of study,and the optimal posture needed for the recovery of motor function was studied,and the rehabilitation training robot was studied based on the position.Specifically,,the main contents of this article are as follows.Firstly,the physiological parameters under different body positions were analyzed to determine the best training posture of patients with limb paralysis.The normal movement track of lower limbs in this position is determined,and the data reference is provided for the construction of rehabilitation training robot model.Secondly,the patient’s lower limb is simplified as a three-link motion system.The D-H analysis method is used to analyze the kinematics and inverse kinematics of human lower limbs,and the coordinate system is constructed for the simplified connecting rod model.The mathematical relationship between the angular variables and the spatial position of the lower extremity motion is obtained by the homogeneous transformation matrix.Lagrangian-Euler kinematics analysis method is used to analyze the dynamics of the model,and then the dynamic equation of the robot is obtained.Finally,the RBF neural network method is used to optimize the control of the lower limb rehabilitation training system model,and the MATLAB software is used to carry out the experimental simulation to verify the training effect of the robot model.