Paradigm Design And VR Implementation Of Rehabilitation-oriented Upper Extremity Robot Training System

Studies have shown that the number of patients with hemiplegia caused by stroke is increasing in China,so there is a contradiction between the supply and demand of rehabilitation medical talent and patients.With the development of modern rehabilitation medicine,this contradiction between supply and demand can be alleviated by upper extremity rehabilitation exoskeleton robots.The training system for upper extremity rehabilitation exoskeleton robots,which provides rehabilitation training and evaluation for hemiplegic patients,has the defects of lack of theoretical support for training and evaluation methods,single training mode,and boring training process.In response to the above problems,this paper designs and implements an upper extremity rehabilitation exoskeleton robot training system based on virtual reality.The main research work is as follows:Establish a paradigm of rehabilitation training based on upper exoskeleton robot:Based on facilitation technology and sports re-learning hemiplegia rehabilitation training method,taking Brunnstrom therapy as the theoretical basis,it proposes a design paradigm that provides targeted training modes according to the patient's pathology.At the same time,in order to meet the rehabilitation needs of multiple joints and repetitive training,it provides the functions of optional joint training and adjustable training time for each training mode.Design VR games for active and resistance training modes:In order to improve the enthusiasm of the patients in rehabilitation training and enhance the patient's sense of participation,this article integrates the characteristics of virtual reality technology and training modes,and designs VR games based on the theoretical basis of rehabilitation training and the characteristics of active rehabilitation training.Designed active and resistance training modes based on VR games to induce patients' awareness of autonomous movement,and realized 5 VR games with clear training goals,repeated training functions,and multiple sensory feedback.At the same time,in order to effectively promote the reorganization of the injured nerves of the patients and the recovery of motor function,the upper limb movement simulation visual interface is designed for the three training modes of passive,active and passive,and prescription.Three rehabilitation evaluation methods based on upper exoskeleton robot are proposed:Rehabilitation assessment is the process of judging the exercise ability of patients,and has an important guiding role in formulating or modifying rehabilitation training plans.In view of the lack of reliability,effectiveness,and sensitivity of current traditional scale evaluation methods such as Brunnstrom and Fugl-Meyer,this paper proposes an evaluation method based on upper limb rehabilitation robots.Based on the traditional evaluation method and combining the characteristics of robot evaluation,two raw data evaluation methods based on the joint mobility and muscle strength of the upper exoskeleton robot and the motion quality evaluation method with path ratio and motion time as the characteristic values are realized.This article finally realized a set of upper extremity rehabilitation exoskeleton robot training system based on VR games and integrated hemiplegic rehabilitation training and evaluation functions.The system can assist medical personnel to provide patients with efficient rehabilitation training tasks and help patients return to daily life as soon as possible.