Design Of The Fusion Method Of Vision And Force Feedback Of Upper Limb Rehabilitation Robot

Stroke is a serious nerve-damaging disease that usually causes motor dysfunction in the patient's upper limbs.Patients need to stimulate peripheral nerve function through extensive and repetitive training to achieve the reconstruction of their motor function.Traditional upper limb rehabilitation training robots use simple visual feedback to induce patients to complete rehabilitation training.The process is relatively boring and patient participation is low.The fusion of vision and force can increase the fun of rehabilitation training,improve the initiative of patients to participate in rehabilitation training,promote the remodeling of brain motor nerves,and improve the efficiency of rehabilitation.In this paper,the terminal upper limb traction rehabilitation robot is used as the platform.According to the motion state of the subjects' upper limbs and different virtual environments,the mechanical events are transmitted to the user through the robot to realize the fusion of vision and force.The method based on man-machine dynamics model and the method based on position-type impedance were used to design the force-sensing reproduction controller to realize the control of interactive force,and its stability was proved theoretically.The performance of the two controllers is compared by experimental method,and the controller based on the man-machine dynamics model is selected as the force reproduction controller of the system.Taking fun and training intensity as the starting points respectively,the design of the feedback method of fusion of vision and force is discussed.In the design of feedback fusion method to enhance the fun of feedback training,the physical model with reference to the reality divides the common feedback models into two categories—collision and field force,and two rehabilitation scenarios—snooker game and pushing are designed according to rehabilitation needs.Water tank game.By using the EMG signal of the upper limbs of the subjects during training,the effect of the fusion of vision and force on rehabilitation was compared and analyzed.Experiments show that the designed feedback fusion method that enhances the fun of feedback training can effectively improve the degree of muscle activation.In the feedback fusion method to enhance the intensity of rehabilitation training,a fusion method that can enhance the training intensity of the extensor is designed for the sequelae of stroke-elbow flexion spasm,and its effectiveness is verified by experiments.Experimental results show that this method can enhance the training intensity of extensor muscles and enhance the effect of rehabilitation training without affecting the exercise intensity of flexor muscles.The fusion method of vision and force in the upper limb rehabilitation robot designed in this paper can improve the activation of upper limb muscles during the patient's training process,increase the stimulation of the trainer's nerve function,and strengthen the reconstruction of central nervous function.