The Design And Implementation Of The Controll Software Of Bio-syncretic Elbow And Wrist Rehabilitation Robot

Elbow and wrist joints are the main carriers for human to carry out daily activities.If they don't achieve complete rehabilitation after injury,the quality of life of patients will be affected.And the timely training is an important method of high-quality rehabilitation.With the development of the technology of rehabilitation robot,more and more rehabilitation robots was used for the rehabilitation training of elbow and wrist joints.In the rehabilitation process,there are some problems of inaccurate joint angles and low precision of rehabilitation motion control caused by the misalignment of human-machine motion axis as well as the deficiency of poor experience of human-machine interaction and the inability to achieve immersive training.Aiming at these problem and the deficiency,the rehabilitation angle of elbow joint was revised by introducing the design concept of bio-syncretic rehabilitation mechanism based on the prototype of the elbow and wrist rehabilitation robot in the laboratory.The following work has been carried out:First of all,the human joints were equivalent to the motion pairs based on the analysis of the motion mechanism of the human elbow and wrist joints.The human and machine further constituted bio-syncretic rehabilitation mechanism by adding the elastic motion pair to the robot mechanism.Through the analysis of the position of the elastic motion pair,the length of the forearm of the human body was identified,and the rehabilitation angle of the elbow joint is corrected,thereby improving the accuracy of the rehabilitation motion.Secondly,the functional modules were divided based on the analysis of the control function requirements of the elbow and wrist rehabilitation robot.At the same time,the overall architecture of the control software is built by using the three-layer architecture of the.NET and the design model of MVC.The three key modules of database,multi-thread and serial communication were designed and achieved.And the visual interface of humanmachine interaction is further developed.According to the characteristics of the rehabilitation motion of elbow and wrist joints,the virtual training scenes were designed and built for providing patients with immersive training environment of rehabilitation.Finally,the third generation prototype of elbow and wrist rehabilitation robot was developed for realizing accurate motion of human joints based on the existing rehabilitation robot prototype.By applying the rehabilitation robot to the experiment of elbow flexion/extension in the passive mode,the ability of the recognition of human forearm length and the correction of rehabilitation angle of elbow joint was verified.Further the rehabilitation experiments of elbow flexion/extension and wrist flexion/extension in active mode was carried out based on virtual training scene so as to verify the function of the control software.