| With the rapid increase in the number of cervical spondylosis patients and the serious trend of younger age,more and more scholars begin to study the treatment of cervical spondylosis.At the same time,rehabilitation robot combined with rehabilitation medicine and robotics emerged as the times require.It not only played a certain role in rehabilitation,but also showed certain advantages.In this paper,an intelligent cervical traction rehabilitation robot is designed for the patients with cervical spondylosis,including the body structure,hardware and software system and control strategy of the robot.Through the experiment of the body and the clinical experiment,the traction requirements and the precision of the rehabilitation medicine and the mechanical body are realized.In this paper,the cervical vertebra rehabilitation equipment has been studied and summarized,and the existing problems have been obtained,which provides a reference for the subsequent design robot.Then we studied and analyzed the etiology,pathology and movement mechanism of cervical spondylosis,and concluded the key point of cervical spondylosis treatment.According to the selected traction therapy,the rehabilitation mechanism and traction factors were studied.Finally,combined with the problems of current equipment and the key elements of cervical traction,a precise quantitative cervical traction rehabilitation robot was designed.The robot has three degrees of freedom and three motors are used to control the position and traction of the cervical spine.In order to achieve precise quantitative and rehabilitation requirements of cervical traction rehabilitation robot,corresponding control strategies need to be designed.First,the kinematics and dynamics mathematical modeling of the designed robot is carried out by using the vector method and the Newton Euler method,and the Sim Mechanics tool is used to model the mechanical system.The correctness of mathematical modeling and Sim Mechanics is verified by comparing the length of wire rope,the flexion angle and the driving torque obtained from the simulation.Then the control strategy is studied based on the model.In order to realize the flexibility control of the traction force,the force / bit mixing control is selected and the RBF neural network is used to compensate the unmodeled error.However,the simulation results show that the traction precision can not be reached when the mechanical interference is added.In order to improve the stability and robustness of control,a hybrid control of force / position based on fuzzy sliding mode control is proposed in this paper.In this paper,fuzzy self-tuning PID control is designed for flexion and extension motion.By simulating all kinds of disturbance,the traction requirements and precision requirements of rehabilitation medicine and design can be achieved.In order to verify the feasibility of the designed cervical vertebra rehabilitation robot,the platform was built,including hardware system and software system.The experiment includes the noumenon experiment and the clinical experiment: the validity and feasibility of the force / position hybrid control based on fuzzy sliding mode control and the fuzzy self-tuning PID control are verified by adding various disturbances to the body,and the clinical experiment is to use the s EMG data of the cervical muscles of the patient by comparing the common occipital and maxillary traction.The rehabilitation effect of the objective robot.The treatment of all the treatment cases during the experimental period is also given,and the clinical rehabilitation feasibility of the designed cervical rehabilitation robot is verified. |
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