Design And Rehabilitation Trajectory Planning Of Upper Limb Postoperative Rehabilitation Robot

There are a large number of extremity disability patients in our country,and with the increasing aging population,the number of extremity disability patients is still rising.Nowadays,more and more patients choose to undergo surgery,but for them,the success of surgery is only the first step of treatment,postoperative rehabilitation is crucial for recovery the limb function.However,our country's rehabilitation medical resources are unable to meet the requirements for rehabilitation training.Rehabilitation robots can effectively replace or assist physicians in the rehabilitation process,Therefore,it is very important to develop the rehabilitation robot.Firstly,this paper analyzed the postoperative rehabilitation theory and exercise requirements and the physical structure of human upper limbs,then proposed the design requirements for the rehabilitation robot.By analyzing the advantages and disadvantages of the current rehabilitation robot structure,we chose the exoskeleton structure to build rehabilitation robot and point out the design difficulties of the rehabilitation robot,then analyzed the motion of the shoulder joint by using the scapulohumeral rhythm,obtained humeral joint motion curve,then proposed design proposal,based on this design proposal accomplished the structural design of the rehabilitation robot.Secondly,based on the Hill muscle model,combined with the musculoskeletal parameters of the upper limbs,an upper extremity musculoskeletal model was built by using Opensim software,muscle force analysis was performed on the slow and rapid abduction movements,and the relationship between muscle strength and outreach movement was clarified.Then the kinematics analysis and simulation verification of the rehabilitation robot was carried out to ensure the accuracy of its kinematic analysis results.Based on the results of kinematics analysis and combined with muscle force analysis,the fifth-order polynomial function was used to perform joint space trajectory planning for the rehabilitation robot.The trajectory planning simulation of raising the hand and elbow flex was carried out in MATLAB,verified the robot's ability to complete the rehabilitation movement and its design rationality.Finally,combined the clinical rehabilitation training parameters with safety requirements,completed the hardware selection and software designation,and then programmed the control system in Code Composer Studio,did some experiments in the rehabilitation robot prototype,solved the problem of vibration in the movement process,at the same time,the sampling results of the joint angle shown that the rehabilitation robot run normally and smoothly,met the design requirements,which proves the rationality and reliability of the rehabilitation robot.